Update RoboCOIN assets

dataset_info/Agilex_Cobot_Magic_fold_T_shirts.yaml

@@ -0,0 +1,491 @@
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
+dataset_name: Agilex_Cobot_Magic_fold_T_shirts
+dataset_uuid: 12c90605-38c4-4fce-b333-8a75fb70309d
+scene_type:
+  level1: office
+  level2: office
+  level3: null
+  level4: null
+  level5: null
+env_type: Due to some reasons, this dataset temporarily cannot provide the environment
+  type information.
+objects:
+- object_name: table
+- object_name: black_T-shirt
+task_operation_type: Due to some reasons, this dataset temporarily cannot provide
+  the operation type information.
+task_instruction:
+- Fold the clothes on the table with the gripper.
+sub_tasks:
+- subtask: Lift the black T-shirt with the left gripper.
+  subtask_index: 0
+- subtask: Abnormal.
+  subtask_index: 1
+- subtask: Lift the black T-shirt with the right gripper.
+  subtask_index: 2
+- subtask: Grasp the black T-shirt with the left gripper.
+  subtask_index: 3
+- subtask: End.
+  subtask_index: 4
+- subtask: Fold the black T-shirt downward with the right gripper.
+  subtask_index: 5
+- subtask: Grasp the black T-shirt with the right gripper.
+  subtask_index: 6
+- subtask: Fold the black T-shirt downward with the left gripper.
+  subtask_index: 7
+- subtask: Fold the black T-shirt from right to left with right gripper.
+  subtask_index: 8
+- subtask: wipe the clothes.
+  subtask_index: 9
+- subtask: null.
+  subtask_index: 10
+atomic_actions:
+- grasp
+- fold
+- lift
+- place
+robot_name: Agilex_Cobot_Magic
+end_effector_type: two_finger_end_effector
+tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation
+  type information.
+sensor_list:
+- cam_head_rgb
+- cam_left_wrist_rgb
+- cam_right_wrist_rgb
+came_info:
+  cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+  cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+depth_enabled: false
+coordinate_definition: right-hand-frame
+joint_rotation_dim: radian
+end_translation_dim: meter
+annotations:
+- eef_acc_mag_annotation.jsonl
+- eef_direction_annotation.jsonl
+- eef_velocity_annotation.jsonl
+- gripper_activity_annotation.jsonl
+- gripper_mode_annotation.jsonl
+- scene_annotations.jsonl
+- subtask_annotations.jsonl
+statistics:
+  total_episodes: 100
+  total_frames: 78640
+  fps: 30
+  total_tasks: 11
+  total_videos: 300
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 26
+  action_dim: 26
+  camera_views: 3
+  dataset_size: 913.86 MB
+frame_num: 78640
+frame_range: 100K
+dataset_size: 913.86 MB
+data_structure: 'Agilex_Cobot_Magic_fold_T_shirts_qced_hardlink/
+
+  |-- annotations
+
+  |   |-- eef_acc_mag_annotation.jsonl
+
+  |   |-- eef_direction_annotation.jsonl
+
+  |   |-- eef_velocity_annotation.jsonl
+
+  |   |-- gripper_activity_annotation.jsonl
+
+  |   |-- gripper_mode_annotation.jsonl
+
+  |   |-- scene_annotations.jsonl
+
+  |   `-- subtask_annotations.jsonl
+
+  |-- data
+
+  |   `-- chunk-000
+
+  |       |-- episode_000000.parquet
+
+  |       |-- episode_000001.parquet
+
+  |       |-- episode_000002.parquet
+
+  |       |-- episode_000003.parquet
+
+  |       |-- episode_000004.parquet
+
+  |       |-- episode_000005.parquet
+
+  |       |-- episode_000006.parquet
+
+  |       |-- episode_000007.parquet
+
+  |       |-- episode_000008.parquet
+
+  |       |-- episode_000009.parquet
+
+  |       |-- episode_000010.parquet
+
+  |       `-- episode_000011.parquet
+
+  |       `-- ... (88 more entries)
+
+  |-- meta
+
+  |   |-- episodes.jsonl
+
+  |   |-- episodes_stats.jsonl
+
+  |   |-- info.json
+
+  |   `-- tasks.jsonl
+
+  |-- videos
+
+  |   `-- chunk-000
+
+  |       |-- observation.images.cam_head_rgb
+
+  |       |-- observation.images.cam_left_wrist_rgb
+
+  |       `-- observation.images.cam_right_wrist_rgb
+
+  |-- info.yaml
+
+  `-- README.md'
+splits:
+  train: 0:99
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 26
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - left_gripper_open
+    - left_eef_pos_x_m
+    - left_eef_pos_y_m
+    - left_eef_pos_z_m
+    - left_eef_rot_euler_x_rad
+    - left_eef_rot_euler_y_rad
+    - left_eef_rot_euler_z_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - right_gripper_open
+    - right_eef_pos_x_m
+    - right_eef_pos_y_m
+    - right_eef_pos_z_m
+    - right_eef_rot_euler_x_rad
+    - right_eef_rot_euler_y_rad
+    - right_eef_rot_euler_z_rad
+  action:
+    dtype: float32
+    shape:
+    - 26
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - left_gripper_open
+    - left_eef_pos_x_m
+    - left_eef_pos_y_m
+    - left_eef_pos_z_m
+    - left_eef_rot_euler_x_rad
+    - left_eef_rot_euler_y_rad
+    - left_eef_rot_euler_z_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - right_gripper_open
+    - right_eef_pos_x_m
+    - right_eef_pos_y_m
+    - right_eef_pos_z_m
+    - right_eef_rot_euler_x_rad
+    - right_eef_rot_euler_y_rad
+    - right_eef_rot_euler_z_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    dtype: int32
+    shape:
+    - 5
+  scene_annotation:
+    names: null
+    dtype: int32
+    shape:
+    - 1
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    dtype: float32
+    shape:
+    - 12
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    dtype: float32
+    shape:
+    - 12
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    dtype: int32
+    shape:
+    - 2
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    dtype: int32
+    shape:
+    - 2
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    dtype: int32
+    shape:
+    - 2
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    dtype: int32
+    shape:
+    - 2
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    dtype: int32
+    shape:
+    - 2
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    dtype: int32
+    shape:
+    - 2
+  gripper_mode_state:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    dtype: int32
+    shape:
+    - 2
+  gripper_mode_action:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    dtype: int32
+    shape:
+    - 2
+  gripper_activity_state:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    dtype: int32
+    shape:
+    - 2
+  gripper_activity_action:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    dtype: int32
+    shape:
+    - 2
+  gripper_open_scale_state:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    dtype: float32
+    shape:
+    - 2
+  gripper_open_scale_action:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    dtype: float32
+    shape:
+    - 2
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4

dataset_info/Agilex_Cobot_Magic_fold_jeans_shorts_children_s.yaml

@@ -0,0 +1,508 @@
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
+dataset_name: Agilex_Cobot_Magic_fold_jeans_shorts_children_s
+dataset_uuid: 2bc06e3c-fc72-45ad-bd89-8ca94645988e
+scene_type:
+  level1: household
+  level2: bedroom
+  level3: null
+  level4: null
+  level5: null
+env_type: Due to some reasons, this dataset temporarily cannot provide the environment
+  type information.
+objects:
+- object_name: table
+- object_name: denim_shorts
+- object_name: green_tray
+task_operation_type: Due to some reasons, this dataset temporarily cannot provide
+  the operation type information.
+task_instruction:
+- Fold the children's denim shorts in half with the grippers, then fold them in half
+  again. Place the folded children's denim shorts on the tray with the left gripper.
+  again, and use the left claw to place the folded children's denim shorts on the
+  tray.
+sub_tasks:
+- subtask: Grasp the blue trousers with the right gripper.
+  subtask_index: 0
+- subtask: Fold the blue trousers upwards with the right gripper.
+  subtask_index: 1
+- subtask: Fold the blue trousers from right to left with the right gripper.
+  subtask_index: 2
+- subtask: Place the folded blue trousers on the green tray with the left gripper.
+  subtask_index: 3
+- subtask: Grasp the blue trousers with the left gripper.
+  subtask_index: 4
+- subtask: Fold the blue trousers upwards with the left gripper.
+  subtask_index: 5
+- subtask: Fold the blue trousers from left to right with the left gripper.
+  subtask_index: 6
+- subtask: end.
+  subtask_index: 7
+- subtask: null.
+  subtask_index: 8
+atomic_actions:
+- grasp
+- lift
+- place
+- fold
+robot_name:
+- Agilex_Cobot_Magic
+end_effector_type: two_finger_end_effector
+tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation
+  type information.
+sensor_list:
+- cam_head_rgb
+- cam_left_wrist_rgb
+- cam_right_wrist_rgb
+came_info:
+  cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+  cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+depth_enabled: false
+coordinate_definition: right-hand-frame
+joint_rotation_dim: radian
+end_translation_dim: meter
+annotations:
+- eef_acc_mag_annotation.jsonl
+- eef_direction_annotation.jsonl
+- eef_velocity_annotation.jsonl
+- gripper_activity_annotation.jsonl
+- gripper_mode_annotation.jsonl
+- scene_annotations.jsonl
+- subtask_annotations.jsonl
+statistics:
+  total_episodes: 50
+  total_frames: 60562
+  fps: 30
+  total_tasks: 9
+  total_videos: 150
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 26
+  action_dim: 26
+  camera_views: 3
+  dataset_size: 912.51 MB
+frame_num: 60562
+frame_range: 100K
+dataset_size: 912.51 MB
+data_structure: 'Agilex_Cobot_Magic_fold_jeans_shorts_children_s_qced_hardlink/
+
+  |-- annotations
+
+  |   |-- eef_acc_mag_annotation.jsonl
+
+  |   |-- eef_direction_annotation.jsonl
+
+  |   |-- eef_velocity_annotation.jsonl
+
+  |   |-- gripper_activity_annotation.jsonl
+
+  |   |-- gripper_mode_annotation.jsonl
+
+  |   |-- scene_annotations.jsonl
+
+  |   `-- subtask_annotations.jsonl
+
+  |-- backup
+
+  |   |-- data
+
+  |   |   `-- chunk-000
+
+  |   `-- meta
+
+  |       |-- episodes.jsonl
+
+  |       |-- episodes_stats.jsonl
+
+  |       |-- info.json
+
+  |       `-- tasks.jsonl
+
+  |-- data
+
+  |   `-- chunk-000
+
+  |       |-- episode_000000.parquet
+
+  |       |-- episode_000001.parquet
+
+  |       |-- episode_000002.parquet
+
+  |       |-- episode_000003.parquet
+
+  |       |-- episode_000004.parquet
+
+  |       |-- episode_000005.parquet
+
+  |       |-- episode_000006.parquet
+
+  |       |-- episode_000007.parquet
+
+  |       |-- episode_000008.parquet
+
+  |       |-- episode_000009.parquet
+
+  |       |-- episode_000010.parquet
+
+  |       `-- episode_000011.parquet
+
+  |       `-- ... (38 more entries)
+
+  |-- meta
+
+  |   |-- episodes.jsonl
+
+  |   |-- episodes_stats.jsonl
+
+  |   |-- info.json
+
+  |   `-- tasks.jsonl
+
+  |-- videos
+
+  |   `-- chunk-000
+
+  |       |-- observation.images.cam_head_rgb
+
+  |       |-- observation.images.cam_left_wrist_rgb
+
+  |       `-- observation.images.cam_right_wrist_rgb
+
+  |-- info.yaml
+
+  `-- README.md'
+splits:
+  train: 0:49
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 26
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - left_gripper_open
+    - left_eef_pos_x_m
+    - left_eef_pos_y_m
+    - left_eef_pos_z_m
+    - left_eef_rot_euler_x_rad
+    - left_eef_rot_euler_y_rad
+    - left_eef_rot_euler_z_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - right_gripper_open
+    - right_eef_pos_x_m
+    - right_eef_pos_y_m
+    - right_eef_pos_z_m
+    - right_eef_rot_euler_x_rad
+    - right_eef_rot_euler_y_rad
+    - right_eef_rot_euler_z_rad
+  action:
+    dtype: float32
+    shape:
+    - 26
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - left_gripper_open
+    - left_eef_pos_x_m
+    - left_eef_pos_y_m
+    - left_eef_pos_z_m
+    - left_eef_rot_euler_x_rad
+    - left_eef_rot_euler_y_rad
+    - left_eef_rot_euler_z_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - right_gripper_open
+    - right_eef_pos_x_m
+    - right_eef_pos_y_m
+    - right_eef_pos_z_m
+    - right_eef_rot_euler_x_rad
+    - right_eef_rot_euler_y_rad
+    - right_eef_rot_euler_z_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    shape:
+    - 5
+    dtype: int32
+  scene_annotation:
+    names: null
+    shape:
+    - 1
+    dtype: int32
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    shape:
+    - 12
+    dtype: float32
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    shape:
+    - 2
+    dtype: int32
+  gripper_mode_state:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    shape:
+    - 2
+    dtype: int32
+  gripper_mode_action:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    shape:
+    - 2
+    dtype: int32
+  gripper_activity_state:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    shape:
+    - 2
+    dtype: int32
+  gripper_activity_action:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    shape:
+    - 2
+    dtype: int32
+  gripper_open_scale_state:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    dtype: float32
+    shape:
+    - 2
+  gripper_open_scale_action:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    dtype: float32
+    shape:
+    - 2
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4

dataset_info/Agilex_Cobot_Magic_storage_fruit_bowl.yaml

@@ -0,0 +1,499 @@
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
+dataset_name: Agilex_Cobot_Magic_storage_fruit_bowl
+dataset_uuid: 30dcbc74-cebe-4d75-a531-87b88a439e63
+scene_type:
+  level1: household
+  level2: kitchen
+  level3: null
+  level4: null
+  level5: null
+env_type: Due to some reasons, this dataset temporarily cannot provide the environment
+  type information.
+objects:
+- object_name: table
+- object_name: bowl
+- object_name: green_lemon
+- object_name: mango
+- object_name: pomegranate
+task_operation_type: Due to some reasons, this dataset temporarily cannot provide
+  the operation type information.
+task_instruction:
+- Place the three fruits on the table with the gripper into a bowl.
+sub_tasks:
+- subtask: Grasp the pomegranate with left gripper.
+  subtask_index: 0
+- subtask: Place the pomegranate in the blue bowl with left gripper.
+  subtask_index: 1
+- subtask: Grasp the pomegranate with right gripper.
+  subtask_index: 2
+- subtask: Place the green lemon in the blue bowl with right gripper.
+  subtask_index: 3
+- subtask: Grasp the green lemon with left gripper.
+  subtask_index: 4
+- subtask: Place the pomegranate in the blue bowl with right gripper.
+  subtask_index: 5
+- subtask: Place the mango in the blue bowl with right gripper.
+  subtask_index: 6
+- subtask: Grasp the mango with right gripper.
+  subtask_index: 7
+- subtask: End.
+  subtask_index: 8
+- subtask: Place the mango in the blue bowl with left gripper.
+  subtask_index: 9
+- subtask: Grasp the green lemon with right gripper.
+  subtask_index: 10
+- subtask: Place the green lemon in the blue bowl with left gripper.
+  subtask_index: 11
+- subtask: Grasp the mango with left gripper.
+  subtask_index: 12
+- subtask: null.
+  subtask_index: 13
+atomic_actions:
+- grasp
+- lift
+- place
+robot_name: Agilex_Cobot_Magic
+end_effector_type: two_finger_end_effector
+tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation
+  type information.
+sensor_list:
+- cam_head_rgb
+- cam_left_wrist_rgb
+- cam_right_wrist_rgb
+came_info:
+  cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+  cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+depth_enabled: false
+coordinate_definition: right-hand-frame
+joint_rotation_dim: radian
+end_translation_dim: meter
+annotations:
+- eef_acc_mag_annotation.jsonl
+- eef_direction_annotation.jsonl
+- eef_velocity_annotation.jsonl
+- gripper_activity_annotation.jsonl
+- gripper_mode_annotation.jsonl
+- scene_annotations.jsonl
+- subtask_annotations.jsonl
+statistics:
+  total_episodes: 100
+  total_frames: 78670
+  fps: 30
+  total_tasks: 14
+  total_videos: 300
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 26
+  action_dim: 26
+  camera_views: 3
+  dataset_size: 740.83 MB
+frame_num: 78670
+frame_range: 100K
+dataset_size: 740.83 MB
+data_structure: 'Agilex_Cobot_Magic_storage_fruit_bowl_qced_hardlink/
+
+  |-- annotations
+
+  |   |-- eef_acc_mag_annotation.jsonl
+
+  |   |-- eef_direction_annotation.jsonl
+
+  |   |-- eef_velocity_annotation.jsonl
+
+  |   |-- gripper_activity_annotation.jsonl
+
+  |   |-- gripper_mode_annotation.jsonl
+
+  |   |-- scene_annotations.jsonl
+
+  |   `-- subtask_annotations.jsonl
+
+  |-- data
+
+  |   `-- chunk-000
+
+  |       |-- episode_000000.parquet
+
+  |       |-- episode_000001.parquet
+
+  |       |-- episode_000002.parquet
+
+  |       |-- episode_000003.parquet
+
+  |       |-- episode_000004.parquet
+
+  |       |-- episode_000005.parquet
+
+  |       |-- episode_000006.parquet
+
+  |       |-- episode_000007.parquet
+
+  |       |-- episode_000008.parquet
+
+  |       |-- episode_000009.parquet
+
+  |       |-- episode_000010.parquet
+
+  |       `-- episode_000011.parquet
+
+  |       `-- ... (88 more entries)
+
+  |-- meta
+
+  |   |-- episodes.jsonl
+
+  |   |-- episodes_stats.jsonl
+
+  |   |-- info.json
+
+  |   `-- tasks.jsonl
+
+  |-- videos
+
+  |   `-- chunk-000
+
+  |       |-- observation.images.cam_head_rgb
+
+  |       |-- observation.images.cam_left_wrist_rgb
+
+  |       `-- observation.images.cam_right_wrist_rgb
+
+  |-- info.yaml
+
+  `-- README.md'
+splits:
+  train: 0:99
+features:
+  observation.images.cam_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 26
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - left_gripper_open
+    - left_eef_pos_x_m
+    - left_eef_pos_y_m
+    - left_eef_pos_z_m
+    - left_eef_rot_euler_x_rad
+    - left_eef_rot_euler_y_rad
+    - left_eef_rot_euler_z_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - right_gripper_open
+    - right_eef_pos_x_m
+    - right_eef_pos_y_m
+    - right_eef_pos_z_m
+    - right_eef_rot_euler_x_rad
+    - right_eef_rot_euler_y_rad
+    - right_eef_rot_euler_z_rad
+  action:
+    dtype: float32
+    shape:
+    - 26
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - left_gripper_open
+    - left_eef_pos_x_m
+    - left_eef_pos_y_m
+    - left_eef_pos_z_m
+    - left_eef_rot_euler_x_rad
+    - left_eef_rot_euler_y_rad
+    - left_eef_rot_euler_z_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - right_gripper_open
+    - right_eef_pos_x_m
+    - right_eef_pos_y_m
+    - right_eef_pos_z_m
+    - right_eef_rot_euler_x_rad
+    - right_eef_rot_euler_y_rad
+    - right_eef_rot_euler_z_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  subtask_annotation:
+    names: null
+    dtype: int32
+    shape:
+    - 5
+  scene_annotation:
+    names: null
+    dtype: int32
+    shape:
+    - 1
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    dtype: float32
+    shape:
+    - 12
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    dtype: float32
+    shape:
+    - 12
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    dtype: int32
+    shape:
+    - 2
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    dtype: int32
+    shape:
+    - 2
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    dtype: int32
+    shape:
+    - 2
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    dtype: int32
+    shape:
+    - 2
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    dtype: int32
+    shape:
+    - 2
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    dtype: int32
+    shape:
+    - 2
+  gripper_mode_state:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    dtype: int32
+    shape:
+    - 2
+  gripper_mode_action:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    dtype: int32
+    shape:
+    - 2
+  gripper_activity_state:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    dtype: int32
+    shape:
+    - 2
+  gripper_activity_action:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    dtype: int32
+    shape:
+    - 2
+  gripper_open_scale_state:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    dtype: float32
+    shape:
+    - 2
+  gripper_open_scale_action:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    dtype: float32
+    shape:
+    - 2
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4

info/consolidated_datasets.json

@@ -1,3 +1,3 @@
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+oid sha256:afd6f067aa3d4271271ce70118ae3ec2155331bd1204be5c23295e45cb908724
 size 11792233

info/data_index.json

@@ -60,9 +60,9 @@
     "Agilex_Cobot_Magic_erase_board_passing_left_to_right",
     "Agilex_Cobot_Magic_erase_board_passing_right_to_left",
     "Agilex_Cobot_Magic_erase_board_right",
-    "Agilex_Cobot_Magic_fold_T-shirts",
+    "Agilex_Cobot_Magic_fold_T_shirts",
     "Agilex_Cobot_Magic_fold_clothes",
-    "Agilex_Cobot_Magic_fold_jeans_shorts_children's",
+    "Agilex_Cobot_Magic_fold_jeans_shorts_children_s",
     "Agilex_Cobot_Magic_fold_short_sleeve_black",
     "Agilex_Cobot_Magic_fold_short_sleeve_white",
     "Agilex_Cobot_Magic_fold_shorts_khaki",
@@ -119,7 +119,7 @@
     "Agilex_Cobot_Magic_stir_coffee",
     "Agilex_Cobot_Magic_storage_bread_basket",
     "Agilex_Cobot_Magic_storage_fruit_basket",
-    "Agilex_Cobot_Magic_storage_fuirt_bowl",
+    "Agilex_Cobot_Magic_storage_fruit_bowl",
     "Agilex_Cobot_Magic_storage_lemon_mango",
     "Agilex_Cobot_Magic_storage_object",
     "Agilex_Cobot_Magic_storage_object_basket",

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videos/Agilex_Cobot_Magic_fold_jeans_shorts_children_s.mp4

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videos/Agilex_Cobot_Magic_storage_fruit_bowl.mp4

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