Update RoboCOIN assets

dataset_info/AI2_Alphabot_2_arrange_teaset.yaml

@@ -37,6 +37,7 @@ objects:
 task_operation_type: fixed_single_arm
 task_instruction: &id001
 - Pick up the glass from the table and place it on the tray.
+sub_tasks: *id001
 atomic_actions:
 - pick
 - place
@@ -50,6 +51,10 @@ sensor_list:
 - cam_front_head_rgb
 - cam_left_wrist_rgb
 - cam_right_wrist_rgb
+- cam_front_head_depth
+- cam_front_chest_depth
+- cam_left_wrist_depth
+- cam_right_wrist_depth
 came_info:
   cam_front_chest_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
     pix_fmt=yuv420p
@@ -59,12 +64,21 @@ came_info:
     pix_fmt=yuv420p
   cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
     pix_fmt=yuv420p
-depth_enabled: false
+  cam_front_head_depth: dtype=video, shape=480x640x3, resolution=640x480, codec=hevc,
+    pix_fmt=gray12le
+  cam_front_chest_depth: dtype=video, shape=480x640x3, resolution=640x480, codec=hevc,
+    pix_fmt=gray12le
+  cam_left_wrist_depth: dtype=video, shape=480x640x3, resolution=640x480, codec=hevc,
+    pix_fmt=gray12le
+  cam_right_wrist_depth: dtype=video, shape=480x640x3, resolution=640x480, codec=hevc,
+    pix_fmt=gray12le
+depth_enabled: true
 coordinate_definition: right-hand-frame
 joint_rotation_dim: radian
 end_rotation_dim: radian
 end_translation_dim: meter
 annotations:
+- camera_params.json
 - eef_acc_mag_annotation.jsonl
 - eef_direction_annotation.jsonl
 - eef_velocity_annotation.jsonl
@@ -75,29 +89,87 @@ statistics:
   total_frames: 318301
   fps: 30
   total_tasks: 1
-  total_videos: 1596
+  total_videos: 3193
   total_chunks: 1
   chunks_size: 1000
   state_dim: 34
   action_dim: 34
-  camera_views: 4
+  camera_views: 8
   dataset_size: 11.51 GB
 frame_num: 318301
 frame_range: 1M
 dataset_size: 11.51 GB
-data_structure: "AI2_Alphabot_2_arrange_teaset_0_qced_hardlink/\n|-- annotations\n\
-  |   |-- eef_acc_mag_annotation.jsonl\n|   |-- eef_direction_annotation.jsonl\n|\
-  \   |-- eef_velocity_annotation.jsonl\n|   |-- gripper_activity_annotation.jsonl\n\
-  |   `-- gripper_mode_annotation.jsonl\n|-- data\n|   `-- chunk-000\n|       |--\
-  \ episode_000000.parquet\n|       |-- episode_000001.parquet\n|       |-- episode_000002.parquet\n\
-  |       |-- episode_000003.parquet\n|       |-- episode_000004.parquet\n|      \
-  \ |-- episode_000005.parquet\n|       |-- episode_000006.parquet\n|       |-- episode_000007.parquet\n\
-  |       |-- episode_000008.parquet\n|       |-- episode_000009.parquet\n|      \
-  \ |-- episode_000010.parquet\n|       `-- episode_000011.parquet\n|       `-- ...\
-  \ (387 more entries)\n|-- meta\n|   |-- episodes.jsonl\n|   |-- episodes_stats.jsonl\n\
-  |   |-- info.json\n|   `-- tasks.jsonl\n`-- videos\n    `-- chunk-000\n        |--\
-  \ observation.images.cam_front_chest_rgb\n        |-- observation.images.cam_front_head_rgb\n\
-  \        |-- observation.images.cam_left_wrist_rgb\n        `-- observation.images.cam_right_wrist_rgb"
+data_structure: 'AI2_Alphabot_2_arrange_teaset_0_qced_hardlink/
+
+  |-- annotations
+
+  |   |-- camera_params.json
+
+  |   |-- eef_acc_mag_annotation.jsonl
+
+  |   |-- eef_direction_annotation.jsonl
+
+  |   |-- eef_velocity_annotation.jsonl
+
+  |   |-- gripper_activity_annotation.jsonl
+
+  |   `-- gripper_mode_annotation.jsonl
+
+  |-- data
+
+  |   `-- chunk-000
+
+  |       |-- episode_000000.parquet
+
+  |       |-- episode_000001.parquet
+
+  |       |-- episode_000002.parquet
+
+  |       |-- episode_000003.parquet
+
+  |       |-- episode_000004.parquet
+
+  |       |-- episode_000005.parquet
+
+  |       |-- episode_000006.parquet
+
+  |       |-- episode_000007.parquet
+
+  |       |-- episode_000008.parquet
+
+  |       |-- episode_000009.parquet
+
+  |       |-- episode_000010.parquet
+
+  |       `-- episode_000011.parquet
+
+  |       `-- ... (387 more entries)
+
+  |-- meta
+
+  |   |-- episodes.jsonl
+
+  |   |-- episodes_stats.jsonl
+
+  |   |-- info.json
+
+  |   `-- tasks.jsonl
+
+  |-- videos
+
+  |   `-- chunk-000
+
+  |       |-- observation.images.cam_front_chest_rgb
+
+  |       |-- observation.images.cam_front_head_rgb
+
+  |       |-- observation.images.cam_left_wrist_rgb
+
+  |       `-- observation.images.cam_right_wrist_rgb
+
+  |-- info.yaml
+
+  `-- README.md'
 splits:
   train: 0:398
 features:
@@ -398,6 +470,82 @@ features:
     dtype: int32
     shape:
     - 2
+  observation.images.cam_front_head_depth:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.channels: 3
+      video.codec: hevc
+      video.pix_fmt: gray12le
+      video.is_depth_map: true
+      video.fps: 30
+      has_audio: false
+  observation.images.cam_front_chest_depth:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.channels: 3
+      video.codec: hevc
+      video.pix_fmt: gray12le
+      video.is_depth_map: true
+      video.fps: 30
+      has_audio: false
+  observation.images.cam_left_wrist_depth:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.channels: 3
+      video.codec: hevc
+      video.pix_fmt: gray12le
+      video.is_depth_map: true
+      video.fps: 30
+      has_audio: false
+  observation.images.cam_right_wrist_depth:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.channels: 3
+      video.codec: hevc
+      video.pix_fmt: gray12le
+      video.is_depth_map: true
+      video.fps: 30
+      has_audio: false
 authors:
   contributed_by:
   - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
@@ -434,5 +582,4 @@ additional_citations: 'If you use this dataset, please also consider citing:
 version_info: Initial Release
 data_path: data/chunk-{id}/episode_{id}.parquet
 video_path: videos/chunk-{id}/observation.images.cam_front_chest_rgb/episode_{id}.mp{id}
-sub_tasks: *id001
 video_url: videos/chunk-000/observation.images.cam_front_chest_rgb/episode_000000.mp4

dataset_info/AI2_Alphabot_2_brush_egg_wash.yaml

@@ -0,0 +1,498 @@
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
+dataset_name: AI2_Alphabot_2_brush_egg_wash
+dataset_uuid: 12c6c36c-f45c-42e9-9b79-2c67af7a3763
+scene_type:
+  level1: Catering
+  level2: Restaurant
+  level3: null
+  level4: null
+  level5: null
+env_type: real_world
+objects:
+- object_name: cooking brush
+  color: white
+- object_name: sandwich
+  color: yellow
+- object_name: egg liquid
+  color: yellow
+- object_name: kitchen storage box
+  color: black
+task_operation_type: fixed_single_arm
+task_instruction: &id001
+- Pick up the cooking brush, immerse it in the egg mixture, spread the egg mixture
+  onto the sandwich, then place the cooking brush back in its original position.
+sub_tasks: *id001
+atomic_actions:
+- grasp
+- spread
+- place
+robot_name: AI2_Alphabot_2
+end_effector_type: two_finger_end_effector
+tele_type: vr_controller
+sensor_list:
+- cam_front_chest_rgb
+- cam_front_head_rgb
+- cam_left_wrist_rgb
+- cam_right_wrist_rgb
+came_info:
+  cam_front_chest_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=h264,
+    pix_fmt=yuv420p
+  cam_front_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=h264,
+    pix_fmt=yuv420p
+  cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=h264,
+    pix_fmt=yuv420p
+  cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=h264,
+    pix_fmt=yuv420p
+depth_enabled: false
+coordinate_definition: right-hand-frame
+joint_rotation_dim: radian
+end_rotation_dim: radian
+end_translation_dim: meter
+annotations:
+- eef_acc_mag_annotation.jsonl
+- eef_direction_annotation.jsonl
+- eef_velocity_annotation.jsonl
+- gripper_activity_annotation.jsonl
+- gripper_mode_annotation.jsonl
+statistics:
+  total_episodes: 210
+  total_frames: 125085
+  fps: 30
+  total_tasks: 1
+  total_videos: 840
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 34
+  action_dim: 34
+  camera_views: 4
+  dataset_size: 2.45 GB
+frame_num: 125085
+frame_range: 1M
+dataset_size: 2.45 GB
+data_structure: 'AI2_Alphabot_2_brush_egg_wash_0_qced_hardlink/
+
+  |-- annotations
+
+  |   |-- eef_acc_mag_annotation.jsonl
+
+  |   |-- eef_direction_annotation.jsonl
+
+  |   |-- eef_velocity_annotation.jsonl
+
+  |   |-- gripper_activity_annotation.jsonl
+
+  |   `-- gripper_mode_annotation.jsonl
+
+  |-- data
+
+  |   `-- chunk-000
+
+  |       |-- episode_000000.parquet
+
+  |       |-- episode_000001.parquet
+
+  |       |-- episode_000002.parquet
+
+  |       |-- episode_000003.parquet
+
+  |       |-- episode_000004.parquet
+
+  |       |-- episode_000005.parquet
+
+  |       |-- episode_000006.parquet
+
+  |       |-- episode_000007.parquet
+
+  |       |-- episode_000008.parquet
+
+  |       |-- episode_000009.parquet
+
+  |       |-- episode_000010.parquet
+
+  |       `-- episode_000011.parquet
+
+  |       `-- ... (198 more entries)
+
+  |-- meta
+
+  |   |-- episodes.jsonl
+
+  |   |-- episodes_stats.jsonl
+
+  |   |-- info.json
+
+  |   `-- tasks.jsonl
+
+  |-- videos
+
+  |   `-- chunk-000
+
+  |       |-- observation.images.cam_front_chest_rgb
+
+  |       |-- observation.images.cam_front_head_rgb
+
+  |       |-- observation.images.cam_left_wrist_rgb
+
+  |       `-- observation.images.cam_right_wrist_rgb
+
+  |-- info.yaml
+
+  `-- README.md'
+splits:
+  train: 0:209
+features:
+  observation.images.cam_front_chest_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: h264
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_front_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: h264
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: h264
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: h264
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 34
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - left_arm_joint_7_rad
+    - left_eef_pos_x_m
+    - left_eef_pos_y_m
+    - left_eef_pos_z_m
+    - left_eef_rot_euler_x_rad
+    - left_eef_rot_euler_y_rad
+    - left_eef_rot_euler_z_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - right_arm_joint_7_rad
+    - right_eef_pos_x_m
+    - right_eef_pos_y_m
+    - right_eef_pos_z_m
+    - right_eef_rot_euler_x_rad
+    - right_eef_rot_euler_y_rad
+    - right_eef_rot_euler_z_rad
+    - left_gripper_open
+    - right_gripper_open
+    - neck_joint_1_rad
+    - neck_joint_2_rad
+    - torso_joint_1_rad
+    - torso_joint_2_rad
+    - torso_joint_3_rad
+    - torso_joint_4_rad
+  action:
+    dtype: float32
+    shape:
+    - 34
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - left_arm_joint_7_rad
+    - left_eef_pos_x_m
+    - left_eef_pos_y_m
+    - left_eef_pos_z_m
+    - left_eef_rot_euler_x_rad
+    - left_eef_rot_euler_y_rad
+    - left_eef_rot_euler_z_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - right_arm_joint_7_rad
+    - right_eef_pos_x_m
+    - right_eef_pos_y_m
+    - right_eef_pos_z_m
+    - right_eef_rot_euler_x_rad
+    - right_eef_rot_euler_y_rad
+    - right_eef_rot_euler_z_rad
+    - left_gripper_open
+    - right_gripper_open
+    - neck_joint_1_rad
+    - neck_joint_2_rad
+    - torso_joint_1_rad
+    - torso_joint_2_rad
+    - torso_joint_3_rad
+    - torso_joint_4_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  gripper_open_scale_state:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    dtype: float64
+    shape:
+    - 2
+  gripper_open_scale_action:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    dtype: float64
+    shape:
+    - 2
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    dtype: float32
+    shape:
+    - 12
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    dtype: float32
+    shape:
+    - 12
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    dtype: int32
+    shape:
+    - 2
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    dtype: int32
+    shape:
+    - 2
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    dtype: int32
+    shape:
+    - 2
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    dtype: int32
+    shape:
+    - 2
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    dtype: int32
+    shape:
+    - 2
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    dtype: int32
+    shape:
+    - 2
+  gripper_mode_state:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    dtype: int32
+    shape:
+    - 2
+  gripper_mode_action:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    dtype: int32
+    shape:
+    - 2
+  gripper_activity_state:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    dtype: int32
+    shape:
+    - 2
+  gripper_activity_action:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    dtype: int32
+    shape:
+    - 2
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_front_chest_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_front_chest_rgb/episode_000000.mp4

dataset_info/AI2_Alphabot_2_clink_glasses.yaml

@@ -39,6 +39,7 @@ objects:
 task_operation_type: fixed_single_arm
 task_instruction: &id001
 - Pick up one cup with a gripper and tap it against the other cup.
+sub_tasks: *id001
 atomic_actions:
 - pick
 - move
@@ -66,6 +67,7 @@ joint_rotation_dim: radian
 end_rotation_dim: radian
 end_translation_dim: meter
 annotations:
+- camera_params.json
 - eef_acc_mag_annotation.jsonl
 - eef_direction_annotation.jsonl
 - eef_velocity_annotation.jsonl
@@ -86,19 +88,77 @@ statistics:
 frame_num: 337932
 frame_range: 1M
 dataset_size: 10.16 GB
-data_structure: "AI2_Alphabot_2_clink_glasses_0_qced_hardlink/\n|-- annotations\n\
-  |   |-- eef_acc_mag_annotation.jsonl\n|   |-- eef_direction_annotation.jsonl\n|\
-  \   |-- eef_velocity_annotation.jsonl\n|   |-- gripper_activity_annotation.jsonl\n\
-  |   `-- gripper_mode_annotation.jsonl\n|-- data\n|   `-- chunk-000\n|       |--\
-  \ episode_000000.parquet\n|       |-- episode_000001.parquet\n|       |-- episode_000002.parquet\n\
-  |       |-- episode_000003.parquet\n|       |-- episode_000004.parquet\n|      \
-  \ |-- episode_000005.parquet\n|       |-- episode_000006.parquet\n|       |-- episode_000007.parquet\n\
-  |       |-- episode_000008.parquet\n|       |-- episode_000009.parquet\n|      \
-  \ |-- episode_000010.parquet\n|       `-- episode_000011.parquet\n|       `-- ...\
-  \ (381 more entries)\n|-- meta\n|   |-- episodes.jsonl\n|   |-- episodes_stats.jsonl\n\
-  |   |-- info.json\n|   `-- tasks.jsonl\n`-- videos\n    `-- chunk-000\n        |--\
-  \ observation.images.cam_front_chest_rgb\n        |-- observation.images.cam_front_head_rgb\n\
-  \        |-- observation.images.cam_left_wrist_rgb\n        `-- observation.images.cam_right_wrist_rgb"
+data_structure: 'AI2_Alphabot_2_clink_glasses_0_qced_hardlink/
+
+  |-- annotations
+
+  |   |-- camera_params.json
+
+  |   |-- eef_acc_mag_annotation.jsonl
+
+  |   |-- eef_direction_annotation.jsonl
+
+  |   |-- eef_velocity_annotation.jsonl
+
+  |   |-- gripper_activity_annotation.jsonl
+
+  |   `-- gripper_mode_annotation.jsonl
+
+  |-- data
+
+  |   `-- chunk-000
+
+  |       |-- episode_000000.parquet
+
+  |       |-- episode_000001.parquet
+
+  |       |-- episode_000002.parquet
+
+  |       |-- episode_000003.parquet
+
+  |       |-- episode_000004.parquet
+
+  |       |-- episode_000005.parquet
+
+  |       |-- episode_000006.parquet
+
+  |       |-- episode_000007.parquet
+
+  |       |-- episode_000008.parquet
+
+  |       |-- episode_000009.parquet
+
+  |       |-- episode_000010.parquet
+
+  |       `-- episode_000011.parquet
+
+  |       `-- ... (381 more entries)
+
+  |-- meta
+
+  |   |-- episodes.jsonl
+
+  |   |-- episodes_stats.jsonl
+
+  |   |-- info.json
+
+  |   `-- tasks.jsonl
+
+  |-- videos
+
+  |   `-- chunk-000
+
+  |       |-- observation.images.cam_front_chest_rgb
+
+  |       |-- observation.images.cam_front_head_rgb
+
+  |       |-- observation.images.cam_left_wrist_rgb
+
+  |       `-- observation.images.cam_right_wrist_rgb
+
+  |-- info.yaml
+
+  `-- README.md'
 splits:
   train: 0:392
 features:
@@ -435,5 +495,4 @@ additional_citations: 'If you use this dataset, please also consider citing:
 version_info: Initial Release
 data_path: data/chunk-{id}/episode_{id}.parquet
 video_path: videos/chunk-{id}/observation.images.cam_front_chest_rgb/episode_{id}.mp{id}
-sub_tasks: *id001
 video_url: videos/chunk-000/observation.images.cam_front_chest_rgb/episode_000000.mp4

dataset_info/AI2_Alphabot_2_grind_ink.yaml

@@ -155,7 +155,9 @@ data_structure: 'AI2_Alphabot_2_grind_ink_0_qced_hardlink/
 
   |       `-- observation.images.cam_right_wrist_rgb
 
-  `-- info.yaml'
+  |-- info.yaml
+
+  `-- README.md'
 splits:
   train: 0:250
 features:

dataset_info/AI2_Alphabot_2_heat_test_tube.yaml

@@ -40,6 +40,7 @@ task_operation_type: fixed_single_arm
 task_instruction: &id001
 - Hold the test tube with one hand and immerse one end into the beaker, then return
 - it to the test tube rack.
+sub_tasks: *id001
 atomic_actions:
 - pick
 - move
@@ -67,6 +68,7 @@ joint_rotation_dim: radian
 end_rotation_dim: radian
 end_translation_dim: meter
 annotations:
+- camera_params.json
 - eef_acc_mag_annotation.jsonl
 - eef_direction_annotation.jsonl
 - eef_velocity_annotation.jsonl
@@ -87,19 +89,77 @@ statistics:
 frame_num: 371481
 frame_range: 1M
 dataset_size: 16.44 GB
-data_structure: "AI2_Alphabot_2_heat_test_tube_0_qced_hardlink/\n|-- annotations\n\
-  |   |-- eef_acc_mag_annotation.jsonl\n|   |-- eef_direction_annotation.jsonl\n|\
-  \   |-- eef_velocity_annotation.jsonl\n|   |-- gripper_activity_annotation.jsonl\n\
-  |   `-- gripper_mode_annotation.jsonl\n|-- data\n|   `-- chunk-000\n|       |--\
-  \ episode_000000.parquet\n|       |-- episode_000001.parquet\n|       |-- episode_000002.parquet\n\
-  |       |-- episode_000003.parquet\n|       |-- episode_000004.parquet\n|      \
-  \ |-- episode_000005.parquet\n|       |-- episode_000006.parquet\n|       |-- episode_000007.parquet\n\
-  |       |-- episode_000008.parquet\n|       |-- episode_000009.parquet\n|      \
-  \ |-- episode_000010.parquet\n|       `-- episode_000011.parquet\n|       `-- ...\
-  \ (392 more entries)\n|-- meta\n|   |-- episodes.jsonl\n|   |-- episodes_stats.jsonl\n\
-  |   |-- info.json\n|   `-- tasks.jsonl\n`-- videos\n    `-- chunk-000\n        |--\
-  \ observation.images.cam_front_chest_rgb\n        |-- observation.images.cam_front_head_rgb\n\
-  \        |-- observation.images.cam_left_wrist_rgb\n        `-- observation.images.cam_right_wrist_rgb"
+data_structure: 'AI2_Alphabot_2_heat_test_tube_0_qced_hardlink/
+
+  |-- annotations
+
+  |   |-- camera_params.json
+
+  |   |-- eef_acc_mag_annotation.jsonl
+
+  |   |-- eef_direction_annotation.jsonl
+
+  |   |-- eef_velocity_annotation.jsonl
+
+  |   |-- gripper_activity_annotation.jsonl
+
+  |   `-- gripper_mode_annotation.jsonl
+
+  |-- data
+
+  |   `-- chunk-000
+
+  |       |-- episode_000000.parquet
+
+  |       |-- episode_000001.parquet
+
+  |       |-- episode_000002.parquet
+
+  |       |-- episode_000003.parquet
+
+  |       |-- episode_000004.parquet
+
+  |       |-- episode_000005.parquet
+
+  |       |-- episode_000006.parquet
+
+  |       |-- episode_000007.parquet
+
+  |       |-- episode_000008.parquet
+
+  |       |-- episode_000009.parquet
+
+  |       |-- episode_000010.parquet
+
+  |       `-- episode_000011.parquet
+
+  |       `-- ... (392 more entries)
+
+  |-- meta
+
+  |   |-- episodes.jsonl
+
+  |   |-- episodes_stats.jsonl
+
+  |   |-- info.json
+
+  |   `-- tasks.jsonl
+
+  |-- videos
+
+  |   `-- chunk-000
+
+  |       |-- observation.images.cam_front_chest_rgb
+
+  |       |-- observation.images.cam_front_head_rgb
+
+  |       |-- observation.images.cam_left_wrist_rgb
+
+  |       `-- observation.images.cam_right_wrist_rgb
+
+  |-- info.yaml
+
+  `-- README.md'
 splits:
   train: 0:403
 features:
@@ -436,5 +496,4 @@ additional_citations: 'If you use this dataset, please also consider citing:
 version_info: Initial Release
 data_path: data/chunk-{id}/episode_{id}.parquet
 video_path: videos/chunk-{id}/observation.images.cam_front_chest_rgb/episode_{id}.mp{id}
-sub_tasks: *id001
 video_url: videos/chunk-000/observation.images.cam_front_chest_rgb/episode_000000.mp4

dataset_info/AI2_Alphabot_2_insert_hose_into_hole.yaml

@@ -153,7 +153,9 @@ data_structure: 'AI2_Alphabot_2_insert_hose_into_hole_0_qced_hardlink/
 
   |       `-- observation.images.cam_right_wrist_rgb
 
-  `-- info.yaml'
+  |-- info.yaml
+
+  `-- README.md'
 splits:
   train: 0:975
 features:

dataset_info/AI2_Alphabot_2_insert_straw.yaml

@@ -24,23 +24,32 @@ dataset_name: AI2_Alphabot_2_insert_straw
 dataset_uuid: 91345b20-859c-4332-ad31-3632a6fedfbe
 scene_type:
   level1: Catering
-  level2: Restaurant
+  level2: Milk Tea Shop
   level3: null
   level4: null
   level5: null
 env_type: real_world
 objects:
-- object_name: straw
-  color: transparent
-- object_name: paper cup
-  color: black
+- id: straw
+  name: straw
+  color: white
+  anchor_policy: static
+- id: paper_cup
+  name: paper cup
+  color: white
+  anchor_policy: static
+- id: table
+  name: table
+  color: white
+  anchor_policy: static
 task_operation_type: fixed_dual_arm
-task_instruction: &id001
+task_instruction: Pick up the straw with one hand, pass it to the other hand, and
+  insert it into the cup.
+sub_tasks:
 - Pick up the straw with one hand, pass it to the other hand, and insert it into the
   cup.
 atomic_actions:
-- pick
-- pass
+- grasp
 - insert
 robot_name:
 - AI2_Alphabot_2
@@ -67,6 +76,7 @@ joint_rotation_dim: radian
 end_rotation_dim: radian
 end_translation_dim: meter
 annotations:
+- camera_params.json
 - eef_acc_mag_annotation.jsonl
 - eef_direction_annotation.jsonl
 - eef_velocity_annotation.jsonl
@@ -87,19 +97,77 @@ statistics:
 frame_num: 404056
 frame_range: 1M
 dataset_size: 9.60 GB
-data_structure: "AI2_Alphabot_2_insert_straw_0_qced_hardlink/\n|-- annotations\n|\
-  \   |-- eef_acc_mag_annotation.jsonl\n|   |-- eef_direction_annotation.jsonl\n|\
-  \   |-- eef_velocity_annotation.jsonl\n|   |-- gripper_activity_annotation.jsonl\n\
-  |   `-- gripper_mode_annotation.jsonl\n|-- data\n|   `-- chunk-000\n|       |--\
-  \ episode_000000.parquet\n|       |-- episode_000001.parquet\n|       |-- episode_000002.parquet\n\
-  |       |-- episode_000003.parquet\n|       |-- episode_000004.parquet\n|      \
-  \ |-- episode_000005.parquet\n|       |-- episode_000006.parquet\n|       |-- episode_000007.parquet\n\
-  |       |-- episode_000008.parquet\n|       |-- episode_000009.parquet\n|      \
-  \ |-- episode_000010.parquet\n|       `-- episode_000011.parquet\n|       `-- ...\
-  \ (487 more entries)\n|-- meta\n|   |-- episodes.jsonl\n|   |-- episodes_stats.jsonl\n\
-  |   |-- info.json\n|   `-- tasks.jsonl\n`-- videos\n    `-- chunk-000\n        |--\
-  \ observation.images.cam_front_chest_rgb\n        |-- observation.images.cam_front_head_rgb\n\
-  \        |-- observation.images.cam_left_wrist_rgb\n        `-- observation.images.cam_right_wrist_rgb"
+data_structure: 'AI2_Alphabot_2_insert_straw_0_qced_hardlink/
+
+  |-- annotations
+
+  |   |-- camera_params.json
+
+  |   |-- eef_acc_mag_annotation.jsonl
+
+  |   |-- eef_direction_annotation.jsonl
+
+  |   |-- eef_velocity_annotation.jsonl
+
+  |   |-- gripper_activity_annotation.jsonl
+
+  |   `-- gripper_mode_annotation.jsonl
+
+  |-- data
+
+  |   `-- chunk-000
+
+  |       |-- episode_000000.parquet
+
+  |       |-- episode_000001.parquet
+
+  |       |-- episode_000002.parquet
+
+  |       |-- episode_000003.parquet
+
+  |       |-- episode_000004.parquet
+
+  |       |-- episode_000005.parquet
+
+  |       |-- episode_000006.parquet
+
+  |       |-- episode_000007.parquet
+
+  |       |-- episode_000008.parquet
+
+  |       |-- episode_000009.parquet
+
+  |       |-- episode_000010.parquet
+
+  |       `-- episode_000011.parquet
+
+  |       `-- ... (487 more entries)
+
+  |-- meta
+
+  |   |-- episodes.jsonl
+
+  |   |-- episodes_stats.jsonl
+
+  |   |-- info.json
+
+  |   `-- tasks.jsonl
+
+  |-- videos
+
+  |   `-- chunk-000
+
+  |       |-- observation.images.cam_front_chest_rgb
+
+  |       |-- observation.images.cam_front_head_rgb
+
+  |       |-- observation.images.cam_left_wrist_rgb
+
+  |       `-- observation.images.cam_right_wrist_rgb
+
+  |-- info.yaml
+
+  `-- README.md'
 splits:
   train: 0:498
 features:
@@ -436,5 +504,4 @@ additional_citations: 'If you use this dataset, please also consider citing:
 version_info: Initial Release
 data_path: data/chunk-{id}/episode_{id}.parquet
 video_path: videos/chunk-{id}/observation.images.cam_front_chest_rgb/episode_{id}.mp{id}
-sub_tasks: *id001
 video_url: videos/chunk-000/observation.images.cam_front_chest_rgb/episode_000000.mp4

dataset_info/AI2_Alphabot_2_insert_water_pipe.yaml

@@ -35,6 +35,7 @@ objects:
 task_operation_type: fixed_dual_arm
 task_instruction: &id001
 - Align the water pipe and insert it.
+sub_tasks: *id001
 atomic_actions:
 - pick
 - insert
@@ -61,6 +62,8 @@ coordinate_definition: right-hand-frame
 joint_rotation_dim: radian
 end_rotation_dim: radian
 end_translation_dim: meter
+annotations:
+- camera_params.json
 statistics:
   total_episodes: 983
   total_frames: 671854
@@ -76,17 +79,73 @@ statistics:
 frame_num: 671854
 frame_range: 1M
 dataset_size: 11.15 GB
-data_structure: "AI2_Alphabot_2_insert_water_pipe_0_qced_hardlink/\n|-- data\n|  \
-  \ `-- chunk-000\n|       |-- episode_000000.parquet\n|       |-- episode_000001.parquet\n\
-  |       |-- episode_000002.parquet\n|       |-- episode_000003.parquet\n|      \
-  \ |-- episode_000004.parquet\n|       |-- episode_000005.parquet\n|       |-- episode_000006.parquet\n\
-  |       |-- episode_000007.parquet\n|       |-- episode_000008.parquet\n|      \
-  \ |-- episode_000009.parquet\n|       |-- episode_000010.parquet\n|       `-- episode_000011.parquet\n\
-  |       `-- ... (971 more entries)\n|-- logs\n|   `-- collect\n|       `-- collect_20260601160829.log\n\
-  |-- meta\n|   |-- episodes.jsonl\n|   |-- episodes_stats.jsonl\n|   |-- info.json\n\
-  |   `-- tasks.jsonl\n`-- videos\n    `-- chunk-000\n        |-- observation.images.cam_front_chest_rgb\n\
-  \        |-- observation.images.cam_front_head_rgb\n        |-- observation.images.cam_left_wrist_rgb\n\
-  \        `-- observation.images.cam_right_wrist_rgb"
+data_structure: 'AI2_Alphabot_2_insert_water_pipe_0_qced_hardlink/
+
+  |-- annotations
+
+  |   `-- camera_params.json
+
+  |-- 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
+
+  |       `-- ... (971 more entries)
+
+  |-- logs
+
+  |   `-- collect
+
+  |       `-- collect_20260601160829.log
+
+  |-- meta
+
+  |   |-- episodes.jsonl
+
+  |   |-- episodes_stats.jsonl
+
+  |   |-- info.json
+
+  |   `-- tasks.jsonl
+
+  |-- videos
+
+  |   `-- chunk-000
+
+  |       |-- observation.images.cam_front_chest_rgb
+
+  |       |-- observation.images.cam_front_head_rgb
+
+  |       |-- observation.images.cam_left_wrist_rgb
+
+  |       `-- observation.images.cam_right_wrist_rgb
+
+  |-- info.yaml
+
+  `-- README.md'
 splits:
   train: 0:982
 features:
@@ -305,5 +364,4 @@ additional_citations: 'If you use this dataset, please also consider citing:
 version_info: Initial Release
 data_path: data/chunk-{id}/episode_{id}.parquet
 video_path: videos/chunk-{id}/observation.images.cam_front_chest_rgb/episode_{id}.mp{id}
-sub_tasks: *id001
 video_url: videos/chunk-000/observation.images.cam_front_chest_rgb/episode_000000.mp4

dataset_info/AI2_Alphabot_2_move_basket.yaml

@@ -35,6 +35,7 @@ objects:
 task_operation_type: fixed_single_arm
 task_instruction: &id001
 - Use one hand to grasp the basket and place it at the designated location.
+sub_tasks: *id001
 atomic_actions:
 - grasp
 - place
@@ -63,6 +64,7 @@ joint_rotation_dim: radian
 end_rotation_dim: radian
 end_translation_dim: meter
 annotations:
+- camera_params.json
 - eef_acc_mag_annotation.jsonl
 - eef_direction_annotation.jsonl
 - eef_velocity_annotation.jsonl
@@ -83,19 +85,77 @@ statistics:
 frame_num: 78384
 frame_range: 100K
 dataset_size: 3.32 GB
-data_structure: "AI2_Alphabot_2_move_basket_0_qced_hardlink/\n|-- annotations\n| \
-  \  |-- eef_acc_mag_annotation.jsonl\n|   |-- eef_direction_annotation.jsonl\n| \
-  \  |-- eef_velocity_annotation.jsonl\n|   |-- gripper_activity_annotation.jsonl\n\
-  |   `-- gripper_mode_annotation.jsonl\n|-- data\n|   `-- chunk-000\n|       |--\
-  \ episode_000000.parquet\n|       |-- episode_000001.parquet\n|       |-- episode_000002.parquet\n\
-  |       |-- episode_000003.parquet\n|       |-- episode_000004.parquet\n|      \
-  \ |-- episode_000005.parquet\n|       |-- episode_000006.parquet\n|       |-- episode_000007.parquet\n\
-  |       |-- episode_000008.parquet\n|       |-- episode_000009.parquet\n|      \
-  \ |-- episode_000010.parquet\n|       `-- episode_000011.parquet\n|       `-- ...\
-  \ (69 more entries)\n|-- meta\n|   |-- episodes.jsonl\n|   |-- episodes_stats.jsonl\n\
-  |   |-- info.json\n|   `-- tasks.jsonl\n`-- videos\n    `-- chunk-000\n        |--\
-  \ observation.images.cam_front_chest_rgb\n        |-- observation.images.cam_front_head_rgb\n\
-  \        |-- observation.images.cam_left_wrist_rgb\n        `-- observation.images.cam_right_wrist_rgb"
+data_structure: 'AI2_Alphabot_2_move_basket_0_qced_hardlink/
+
+  |-- annotations
+
+  |   |-- camera_params.json
+
+  |   |-- eef_acc_mag_annotation.jsonl
+
+  |   |-- eef_direction_annotation.jsonl
+
+  |   |-- eef_velocity_annotation.jsonl
+
+  |   |-- gripper_activity_annotation.jsonl
+
+  |   `-- gripper_mode_annotation.jsonl
+
+  |-- data
+
+  |   `-- chunk-000
+
+  |       |-- episode_000000.parquet
+
+  |       |-- episode_000001.parquet
+
+  |       |-- episode_000002.parquet
+
+  |       |-- episode_000003.parquet
+
+  |       |-- episode_000004.parquet
+
+  |       |-- episode_000005.parquet
+
+  |       |-- episode_000006.parquet
+
+  |       |-- episode_000007.parquet
+
+  |       |-- episode_000008.parquet
+
+  |       |-- episode_000009.parquet
+
+  |       |-- episode_000010.parquet
+
+  |       `-- episode_000011.parquet
+
+  |       `-- ... (69 more entries)
+
+  |-- meta
+
+  |   |-- episodes.jsonl
+
+  |   |-- episodes_stats.jsonl
+
+  |   |-- info.json
+
+  |   `-- tasks.jsonl
+
+  |-- videos
+
+  |   `-- chunk-000
+
+  |       |-- observation.images.cam_front_chest_rgb
+
+  |       |-- observation.images.cam_front_head_rgb
+
+  |       |-- observation.images.cam_left_wrist_rgb
+
+  |       `-- observation.images.cam_right_wrist_rgb
+
+  |-- info.yaml
+
+  `-- README.md'
 splits:
   train: 0:80
 features:
@@ -432,5 +492,4 @@ additional_citations: 'If you use this dataset, please also consider citing:
 version_info: Initial Release
 data_path: data/chunk-{id}/episode_{id}.parquet
 video_path: videos/chunk-{id}/observation.images.cam_front_chest_rgb/episode_{id}.mp{id}
-sub_tasks: *id001
 video_url: videos/chunk-000/observation.images.cam_front_chest_rgb/episode_000000.mp4

dataset_info/AI2_Alphabot_2_move_test_tube.yaml

@@ -37,6 +37,7 @@ objects:
 task_operation_type: fixed_single_arm
 task_instruction: &id001
 - Reposition the test tube to a different slot in the test tube rack using one hand.
+sub_tasks: *id001
 atomic_actions:
 - pick
 - move
@@ -66,6 +67,7 @@ joint_rotation_dim: radian
 end_rotation_dim: radian
 end_translation_dim: meter
 annotations:
+- camera_params.json
 - eef_acc_mag_annotation.jsonl
 - eef_direction_annotation.jsonl
 - eef_velocity_annotation.jsonl
@@ -86,19 +88,77 @@ statistics:
 frame_num: 33010
 frame_range: 100K
 dataset_size: 2.93 GB
-data_structure: "AI2_Alphabot_2_move_test_tube_0_qced_hardlink/\n|-- annotations\n\
-  |   |-- eef_acc_mag_annotation.jsonl\n|   |-- eef_direction_annotation.jsonl\n|\
-  \   |-- eef_velocity_annotation.jsonl\n|   |-- gripper_activity_annotation.jsonl\n\
-  |   `-- gripper_mode_annotation.jsonl\n|-- data\n|   `-- chunk-000\n|       |--\
-  \ episode_000000.parquet\n|       |-- episode_000001.parquet\n|       |-- episode_000002.parquet\n\
-  |       |-- episode_000003.parquet\n|       |-- episode_000004.parquet\n|      \
-  \ |-- episode_000005.parquet\n|       |-- episode_000006.parquet\n|       |-- episode_000007.parquet\n\
-  |       |-- episode_000008.parquet\n|       |-- episode_000009.parquet\n|      \
-  \ |-- episode_000010.parquet\n|       `-- episode_000011.parquet\n|       `-- ...\
-  \ (57 more entries)\n|-- meta\n|   |-- episodes.jsonl\n|   |-- episodes_stats.jsonl\n\
-  |   |-- info.json\n|   `-- tasks.jsonl\n`-- videos\n    `-- chunk-000\n        |--\
-  \ observation.images.cam_front_chest_rgb\n        |-- observation.images.cam_front_head_rgb\n\
-  \        |-- observation.images.cam_left_wrist_rgb\n        `-- observation.images.cam_right_wrist_rgb"
+data_structure: 'AI2_Alphabot_2_move_test_tube_0_qced_hardlink/
+
+  |-- annotations
+
+  |   |-- camera_params.json
+
+  |   |-- eef_acc_mag_annotation.jsonl
+
+  |   |-- eef_direction_annotation.jsonl
+
+  |   |-- eef_velocity_annotation.jsonl
+
+  |   |-- gripper_activity_annotation.jsonl
+
+  |   `-- gripper_mode_annotation.jsonl
+
+  |-- data
+
+  |   `-- chunk-000
+
+  |       |-- episode_000000.parquet
+
+  |       |-- episode_000001.parquet
+
+  |       |-- episode_000002.parquet
+
+  |       |-- episode_000003.parquet
+
+  |       |-- episode_000004.parquet
+
+  |       |-- episode_000005.parquet
+
+  |       |-- episode_000006.parquet
+
+  |       |-- episode_000007.parquet
+
+  |       |-- episode_000008.parquet
+
+  |       |-- episode_000009.parquet
+
+  |       |-- episode_000010.parquet
+
+  |       `-- episode_000011.parquet
+
+  |       `-- ... (57 more entries)
+
+  |-- meta
+
+  |   |-- episodes.jsonl
+
+  |   |-- episodes_stats.jsonl
+
+  |   |-- info.json
+
+  |   `-- tasks.jsonl
+
+  |-- videos
+
+  |   `-- chunk-000
+
+  |       |-- observation.images.cam_front_chest_rgb
+
+  |       |-- observation.images.cam_front_head_rgb
+
+  |       |-- observation.images.cam_left_wrist_rgb
+
+  |       `-- observation.images.cam_right_wrist_rgb
+
+  |-- info.yaml
+
+  `-- README.md'
 splits:
   train: 0:68
 features:
@@ -435,5 +495,4 @@ additional_citations: 'If you use this dataset, please also consider citing:
 version_info: Initial Release
 data_path: data/chunk-{id}/episode_{id}.parquet
 video_path: videos/chunk-{id}/observation.images.cam_front_chest_rgb/episode_{id}.mp{id}
-sub_tasks: *id001
 video_url: videos/chunk-000/observation.images.cam_front_chest_rgb/episode_000000.mp4

dataset_info/AI2_Alphabot_2_move_test_tube_1.yaml

@@ -0,0 +1,438 @@
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
+dataset_name: AI2_Alphabot_2_move_test_tube_1
+dataset_uuid: 4d8c9c00-1807-459f-b7b6-d93c986af707
+scene_type:
+  level1: Lab
+  level2: Laboratory
+  level3: null
+  level4: null
+  level5: null
+env_type: real_world
+objects:
+- object_name: test tube
+  color: transparent
+- object_name: test tube rack
+  color: transparent
+task_operation_type: fixed_single_arm
+task_instruction: &id001
+- Use the right hand to move the test tube from the test tube rack into the box.
+sub_tasks: *id001
+atomic_actions:
+- pick
+- move
+- place
+robot_name:
+- AI2_Alphabot_2
+end_effector_type:
+- two_finger_end_effector
+tele_type: vr_controller
+sensor_list:
+- cam_front_chest_rgb
+- cam_front_head_rgb
+- cam_left_wrist_rgb
+- cam_right_wrist_rgb
+came_info:
+  cam_front_chest_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_front_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+depth_enabled: false
+coordinate_definition: right-hand-frame
+joint_rotation_dim: radian
+end_rotation_dim: radian
+end_translation_dim: meter
+annotations:
+- auto_annotations.json
+- auto_annotations_wsm.json
+- camera_params.json
+- eef_acc_mag_annotation.jsonl
+- eef_direction_annotation.jsonl
+- eef_velocity_annotation.jsonl
+- episode_0000.json
+- episode_0001.json
+- episode_0002.json
+- gripper_activity_annotation.jsonl
+- gripper_mode_annotation.jsonl
+- review_episode_0000.json
+- review_episode_0001.json
+- review_episode_0002.json
+- scene_annotations.json
+- subtask_instructions.json
+statistics:
+  total_episodes: 49
+  total_frames: 16666
+  fps: 30
+  total_tasks: 1
+  total_videos: 196
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 34
+  action_dim: 34
+  camera_views: 4
+  dataset_size: 502.43 MB
+frame_num: 16666
+frame_range: 100K
+dataset_size: 502.43 MB
+data_structure: 'AI2_Alphabot_2_move_test_tube_1_qced_hardlink/
+
+  |-- annotations
+
+  |   |-- auto_annotations.json
+
+  |   |-- auto_annotations_wsm.json
+
+  |   |-- camera_params.json
+
+  |   |-- eef_acc_mag_annotation.jsonl
+
+  |   |-- eef_direction_annotation.jsonl
+
+  |   |-- eef_velocity_annotation.jsonl
+
+  |   |-- episode_0000.json
+
+  |   |-- episode_0001.json
+
+  |   |-- episode_0002.json
+
+  |   |-- gripper_activity_annotation.jsonl
+
+  |   |-- gripper_mode_annotation.jsonl
+
+  |   `-- review_episode_0000.json
+
+  |   `-- ... (4 more entries)
+
+  |-- 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
+
+  |       `-- ... (37 more entries)
+
+  |-- debug
+
+  |   |-- episode_0000
+
+  |   |   |-- images
+
+  |   |   `-- trace_report.md
+
+  |   |-- episode_0001
+
+  |   |   |-- images
+
+  |   |   `-- trace_report.md
+
+  |   `-- episode_0002
+
+  |       |-- images
+
+  |       `-- trace_report.md
+
+  |-- meta
+
+  |   |-- episodes.jsonl
+
+  |   |-- episodes_stats.jsonl
+
+  |   |-- info.json
+
+  |   `-- tasks.jsonl
+
+  |-- videos
+
+  |   `-- chunk-000
+
+  |       |-- observation.images.cam_front_chest_rgb
+
+  |       |-- observation.images.cam_front_head_rgb
+
+  |       |-- observation.images.cam_left_wrist_rgb
+
+  |       `-- observation.images.cam_right_wrist_rgb
+
+  |-- info.yaml
+
+  `-- README.md'
+splits:
+  train: 0:48
+features:
+  observation.images.cam_front_chest_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_front_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 34
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - left_arm_joint_7_rad
+    - left_eef_pos_x_m
+    - left_eef_pos_y_m
+    - left_eef_pos_z_m
+    - left_eef_rot_euler_x_rad
+    - left_eef_rot_euler_y_rad
+    - left_eef_rot_euler_z_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - right_arm_joint_7_rad
+    - right_eef_pos_x_m
+    - right_eef_pos_y_m
+    - right_eef_pos_z_m
+    - right_eef_rot_euler_x_rad
+    - right_eef_rot_euler_y_rad
+    - right_eef_rot_euler_z_rad
+    - left_gripper_open
+    - right_gripper_open
+    - neck_joint_1_rad
+    - neck_joint_2_rad
+    - torso_joint_1_rad
+    - torso_joint_2_rad
+    - torso_joint_3_rad
+    - torso_joint_4_rad
+  action:
+    dtype: float32
+    shape:
+    - 34
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - left_arm_joint_7_rad
+    - left_eef_pos_x_m
+    - left_eef_pos_y_m
+    - left_eef_pos_z_m
+    - left_eef_rot_euler_x_rad
+    - left_eef_rot_euler_y_rad
+    - left_eef_rot_euler_z_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - right_arm_joint_7_rad
+    - right_eef_pos_x_m
+    - right_eef_pos_y_m
+    - right_eef_pos_z_m
+    - right_eef_rot_euler_x_rad
+    - right_eef_rot_euler_y_rad
+    - right_eef_rot_euler_z_rad
+    - left_gripper_open
+    - right_gripper_open
+    - neck_joint_1_rad
+    - neck_joint_2_rad
+    - torso_joint_1_rad
+    - torso_joint_2_rad
+    - torso_joint_3_rad
+    - torso_joint_4_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  gripper_open_scale_state:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    dtype: 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_front_chest_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_front_chest_rgb/episode_000000.mp4

dataset_info/AI2_Alphabot_2_open_microwave.yaml

@@ -24,21 +24,30 @@ dataset_name: AI2_Alphabot_2_open_microwave
 dataset_uuid: 666c4f57-cf5a-4a11-9ef4-181d34d9cf2b
 scene_type:
   level1: Catering
-  level2: Restaurant
+  level2: Fast Food Restaurant
   level3: null
   level4: null
   level5: null
 env_type: real_world
 objects:
-- object_name: microwave oven
+- id: microwave_oven
+  name: microwave oven
   color: white
-task_operation_type: fixed_dual_arm
-task_instruction: &id001
+  anchor_policy: static
+- id: table
+  name: table
+  color: white
+  anchor_policy: static
+task_operation_type: fixed_single_arm
+task_instruction: Press the button to open the microwave door with one hand; close
+  the microwave door with the other hand
+sub_tasks:
 - Press the button to open the microwave door with one hand; close the microwave door
-  with the other hand.
+  with the other hand
 atomic_actions:
 - press
-- push
+- open
+- close
 robot_name:
 - AI2_Alphabot_2
 end_effector_type:
@@ -64,6 +73,7 @@ joint_rotation_dim: radian
 end_rotation_dim: radian
 end_translation_dim: meter
 annotations:
+- camera_params.json
 - eef_acc_mag_annotation.jsonl
 - eef_direction_annotation.jsonl
 - eef_velocity_annotation.jsonl
@@ -88,6 +98,8 @@ data_structure: 'AI2_Alphabot_2_open_microwave_0_qced_hardlink/
 
   |-- annotations
 
+  |   |-- camera_params.json
+
   |   |-- eef_acc_mag_annotation.jsonl
 
   |   |-- eef_direction_annotation.jsonl
@@ -150,7 +162,9 @@ data_structure: 'AI2_Alphabot_2_open_microwave_0_qced_hardlink/
 
   |       `-- observation.images.cam_right_wrist_rgb
 
-  `-- info.yaml'
+  |-- info.yaml
+
+  `-- README.md'
 splits:
   train: 0:391
 features:
@@ -487,5 +501,4 @@ additional_citations: 'If you use this dataset, please also consider citing:
 version_info: Initial Release
 data_path: data/chunk-{id}/episode_{id}.parquet
 video_path: videos/chunk-{id}/observation.images.cam_front_chest_rgb/episode_{id}.mp{id}
-sub_tasks: *id001
 video_url: videos/chunk-000/observation.images.cam_front_chest_rgb/episode_000000.mp4

dataset_info/AI2_Alphabot_2_organize_cosmetics.yaml

@@ -40,6 +40,7 @@ task_operation_type: fixed_single_arm
 task_instruction: &id001
 - Pick up the facial cleanser and watermelon frost from the table and place them into
   the tiered storage box.
+sub_tasks: *id001
 atomic_actions:
 - pick
 - place
@@ -68,6 +69,7 @@ joint_rotation_dim: radian
 end_rotation_dim: radian
 end_translation_dim: meter
 annotations:
+- camera_params.json
 - eef_acc_mag_annotation.jsonl
 - eef_direction_annotation.jsonl
 - eef_velocity_annotation.jsonl
@@ -88,19 +90,77 @@ statistics:
 frame_num: 330781
 frame_range: 1M
 dataset_size: 16.50 GB
-data_structure: "AI2_Alphabot_2_organize_cosmetics_0_qced_hardlink/\n|-- annotations\n\
-  |   |-- eef_acc_mag_annotation.jsonl\n|   |-- eef_direction_annotation.jsonl\n|\
-  \   |-- eef_velocity_annotation.jsonl\n|   |-- gripper_activity_annotation.jsonl\n\
-  |   `-- gripper_mode_annotation.jsonl\n|-- data\n|   `-- chunk-000\n|       |--\
-  \ episode_000000.parquet\n|       |-- episode_000001.parquet\n|       |-- episode_000002.parquet\n\
-  |       |-- episode_000003.parquet\n|       |-- episode_000004.parquet\n|      \
-  \ |-- episode_000005.parquet\n|       |-- episode_000006.parquet\n|       |-- episode_000007.parquet\n\
-  |       |-- episode_000008.parquet\n|       |-- episode_000009.parquet\n|      \
-  \ |-- episode_000010.parquet\n|       `-- episode_000011.parquet\n|       `-- ...\
-  \ (395 more entries)\n|-- meta\n|   |-- episodes.jsonl\n|   |-- episodes_stats.jsonl\n\
-  |   |-- info.json\n|   `-- tasks.jsonl\n`-- videos\n    `-- chunk-000\n        |--\
-  \ observation.images.cam_front_chest_rgb\n        |-- observation.images.cam_front_head_rgb\n\
-  \        |-- observation.images.cam_left_wrist_rgb\n        `-- observation.images.cam_right_wrist_rgb"
+data_structure: 'AI2_Alphabot_2_organize_cosmetics_0_qced_hardlink/
+
+  |-- annotations
+
+  |   |-- camera_params.json
+
+  |   |-- eef_acc_mag_annotation.jsonl
+
+  |   |-- eef_direction_annotation.jsonl
+
+  |   |-- eef_velocity_annotation.jsonl
+
+  |   |-- gripper_activity_annotation.jsonl
+
+  |   `-- gripper_mode_annotation.jsonl
+
+  |-- data
+
+  |   `-- chunk-000
+
+  |       |-- episode_000000.parquet
+
+  |       |-- episode_000001.parquet
+
+  |       |-- episode_000002.parquet
+
+  |       |-- episode_000003.parquet
+
+  |       |-- episode_000004.parquet
+
+  |       |-- episode_000005.parquet
+
+  |       |-- episode_000006.parquet
+
+  |       |-- episode_000007.parquet
+
+  |       |-- episode_000008.parquet
+
+  |       |-- episode_000009.parquet
+
+  |       |-- episode_000010.parquet
+
+  |       `-- episode_000011.parquet
+
+  |       `-- ... (395 more entries)
+
+  |-- meta
+
+  |   |-- episodes.jsonl
+
+  |   |-- episodes_stats.jsonl
+
+  |   |-- info.json
+
+  |   `-- tasks.jsonl
+
+  |-- videos
+
+  |   `-- chunk-000
+
+  |       |-- observation.images.cam_front_chest_rgb
+
+  |       |-- observation.images.cam_front_head_rgb
+
+  |       |-- observation.images.cam_left_wrist_rgb
+
+  |       `-- observation.images.cam_right_wrist_rgb
+
+  |-- info.yaml
+
+  `-- README.md'
 splits:
   train: 0:406
 features:
@@ -437,5 +497,4 @@ additional_citations: 'If you use this dataset, please also consider citing:
 version_info: Initial Release
 data_path: data/chunk-{id}/episode_{id}.parquet
 video_path: videos/chunk-{id}/observation.images.cam_front_chest_rgb/episode_{id}.mp{id}
-sub_tasks: *id001
 video_url: videos/chunk-000/observation.images.cam_front_chest_rgb/episode_000000.mp4

dataset_info/AI2_Alphabot_2_organize_cosmetics_1.yaml

@@ -0,0 +1,498 @@
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
+dataset_name: AI2_Alphabot_2_organize_cosmetics_1
+dataset_uuid: cc49c713-f190-482e-b9a1-8d27713df86e
+scene_type:
+  level1: Household
+  level2: Kitchen
+  level3: null
+  level4: null
+  level5: null
+env_type: real_world
+objects:
+- object_name: hand cream
+  color: transparent
+- object_name: facial cleanser
+  color: transparent
+- object_name: layered storage box
+  color: pink
+task_operation_type: fixed_single_arm
+task_instruction: &id001
+- Place the hand cream into the layered storage box，place the facial cleanser into
+  the layered storage box.
+sub_tasks: *id001
+atomic_actions:
+- grasp
+- place
+robot_name: AI2_Alphabot_2
+end_effector_type: two_finger_end_effector
+tele_type: vr_controller
+sensor_list:
+- cam_front_chest_rgb
+- cam_front_head_rgb
+- cam_left_wrist_rgb
+- cam_right_wrist_rgb
+came_info:
+  cam_front_chest_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_front_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+depth_enabled: false
+coordinate_definition: right-hand-frame
+joint_rotation_dim: radian
+end_rotation_dim: radian
+end_translation_dim: meter
+annotations:
+- camera_params.json
+- eef_acc_mag_annotation.jsonl
+- eef_direction_annotation.jsonl
+- eef_velocity_annotation.jsonl
+- gripper_activity_annotation.jsonl
+- gripper_mode_annotation.jsonl
+statistics:
+  total_episodes: 405
+  total_frames: 329188
+  fps: 30
+  total_tasks: 1
+  total_videos: 1620
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 34
+  action_dim: 34
+  camera_views: 4
+  dataset_size: 16.42 GB
+frame_num: 329188
+frame_range: 1M
+dataset_size: 16.42 GB
+data_structure: 'AI2_Alphabot_2_organize_cosmetics_1_qced_hardlink/
+
+  |-- annotations
+
+  |   |-- camera_params.json
+
+  |   |-- eef_acc_mag_annotation.jsonl
+
+  |   |-- eef_direction_annotation.jsonl
+
+  |   |-- eef_velocity_annotation.jsonl
+
+  |   |-- gripper_activity_annotation.jsonl
+
+  |   `-- gripper_mode_annotation.jsonl
+
+  |-- data
+
+  |   `-- chunk-000
+
+  |       |-- episode_000000.parquet
+
+  |       |-- episode_000001.parquet
+
+  |       |-- episode_000002.parquet
+
+  |       |-- episode_000003.parquet
+
+  |       |-- episode_000004.parquet
+
+  |       |-- episode_000005.parquet
+
+  |       |-- episode_000006.parquet
+
+  |       |-- episode_000007.parquet
+
+  |       |-- episode_000008.parquet
+
+  |       |-- episode_000009.parquet
+
+  |       |-- episode_000010.parquet
+
+  |       `-- episode_000011.parquet
+
+  |       `-- ... (393 more entries)
+
+  |-- meta
+
+  |   |-- episodes.jsonl
+
+  |   |-- episodes_stats.jsonl
+
+  |   |-- info.json
+
+  |   `-- tasks.jsonl
+
+  |-- videos
+
+  |   `-- chunk-000
+
+  |       |-- observation.images.cam_front_chest_rgb
+
+  |       |-- observation.images.cam_front_head_rgb
+
+  |       |-- observation.images.cam_left_wrist_rgb
+
+  |       `-- observation.images.cam_right_wrist_rgb
+
+  |-- info.yaml
+
+  `-- README.md'
+splits:
+  train: 0:404
+features:
+  observation.images.cam_front_chest_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_front_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 34
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - left_arm_joint_7_rad
+    - left_eef_pos_x_m
+    - left_eef_pos_y_m
+    - left_eef_pos_z_m
+    - left_eef_rot_euler_x_rad
+    - left_eef_rot_euler_y_rad
+    - left_eef_rot_euler_z_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - right_arm_joint_7_rad
+    - right_eef_pos_x_m
+    - right_eef_pos_y_m
+    - right_eef_pos_z_m
+    - right_eef_rot_euler_x_rad
+    - right_eef_rot_euler_y_rad
+    - right_eef_rot_euler_z_rad
+    - left_gripper_open
+    - right_gripper_open
+    - neck_joint_1_rad
+    - neck_joint_2_rad
+    - torso_joint_1_rad
+    - torso_joint_2_rad
+    - torso_joint_3_rad
+    - torso_joint_4_rad
+  action:
+    dtype: float32
+    shape:
+    - 34
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - left_arm_joint_7_rad
+    - left_eef_pos_x_m
+    - left_eef_pos_y_m
+    - left_eef_pos_z_m
+    - left_eef_rot_euler_x_rad
+    - left_eef_rot_euler_y_rad
+    - left_eef_rot_euler_z_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - right_arm_joint_7_rad
+    - right_eef_pos_x_m
+    - right_eef_pos_y_m
+    - right_eef_pos_z_m
+    - right_eef_rot_euler_x_rad
+    - right_eef_rot_euler_y_rad
+    - right_eef_rot_euler_z_rad
+    - left_gripper_open
+    - right_gripper_open
+    - neck_joint_1_rad
+    - neck_joint_2_rad
+    - torso_joint_1_rad
+    - torso_joint_2_rad
+    - torso_joint_3_rad
+    - torso_joint_4_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  gripper_open_scale_state:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    dtype: float64
+    shape:
+    - 2
+  gripper_open_scale_action:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    dtype: float64
+    shape:
+    - 2
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    dtype: float32
+    shape:
+    - 12
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    dtype: float32
+    shape:
+    - 12
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    dtype: int32
+    shape:
+    - 2
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    dtype: int32
+    shape:
+    - 2
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    dtype: int32
+    shape:
+    - 2
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    dtype: int32
+    shape:
+    - 2
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    dtype: int32
+    shape:
+    - 2
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    dtype: int32
+    shape:
+    - 2
+  gripper_mode_state:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    dtype: int32
+    shape:
+    - 2
+  gripper_mode_action:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    dtype: int32
+    shape:
+    - 2
+  gripper_activity_state:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    dtype: int32
+    shape:
+    - 2
+  gripper_activity_action:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    dtype: int32
+    shape:
+    - 2
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_front_chest_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_front_chest_rgb/episode_000000.mp4

dataset_info/AI2_Alphabot_2_organize_lab_equipment.yaml

@@ -41,6 +41,7 @@ objects:
 task_operation_type: fixed_single_arm
 task_instruction: &id001
 - Place the experimental apparatus aside using one hand.
+sub_tasks: *id001
 atomic_actions:
 - pick
 - move
@@ -70,6 +71,7 @@ joint_rotation_dim: radian
 end_rotation_dim: radian
 end_translation_dim: meter
 annotations:
+- camera_params.json
 - eef_acc_mag_annotation.jsonl
 - eef_direction_annotation.jsonl
 - eef_velocity_annotation.jsonl
@@ -90,19 +92,77 @@ statistics:
 frame_num: 88656
 frame_range: 100K
 dataset_size: 3.04 GB
-data_structure: "AI2_Alphabot_2_organize_lab_equipment_0_qced_hardlink/\n|-- annotations\n\
-  |   |-- eef_acc_mag_annotation.jsonl\n|   |-- eef_direction_annotation.jsonl\n|\
-  \   |-- eef_velocity_annotation.jsonl\n|   |-- gripper_activity_annotation.jsonl\n\
-  |   `-- gripper_mode_annotation.jsonl\n|-- data\n|   `-- chunk-000\n|       |--\
-  \ episode_000000.parquet\n|       |-- episode_000001.parquet\n|       |-- episode_000002.parquet\n\
-  |       |-- episode_000003.parquet\n|       |-- episode_000004.parquet\n|      \
-  \ |-- episode_000005.parquet\n|       |-- episode_000006.parquet\n|       |-- episode_000007.parquet\n\
-  |       |-- episode_000008.parquet\n|       |-- episode_000009.parquet\n|      \
-  \ |-- episode_000010.parquet\n|       `-- episode_000011.parquet\n|       `-- ...\
-  \ (38 more entries)\n|-- meta\n|   |-- episodes.jsonl\n|   |-- episodes_stats.jsonl\n\
-  |   |-- info.json\n|   `-- tasks.jsonl\n`-- videos\n    `-- chunk-000\n        |--\
-  \ observation.images.cam_front_chest_rgb\n        |-- observation.images.cam_front_head_rgb\n\
-  \        |-- observation.images.cam_left_wrist_rgb\n        `-- observation.images.cam_right_wrist_rgb"
+data_structure: 'AI2_Alphabot_2_organize_lab_equipment_0_qced_hardlink/
+
+  |-- annotations
+
+  |   |-- camera_params.json
+
+  |   |-- eef_acc_mag_annotation.jsonl
+
+  |   |-- eef_direction_annotation.jsonl
+
+  |   |-- eef_velocity_annotation.jsonl
+
+  |   |-- gripper_activity_annotation.jsonl
+
+  |   `-- gripper_mode_annotation.jsonl
+
+  |-- data
+
+  |   `-- chunk-000
+
+  |       |-- episode_000000.parquet
+
+  |       |-- episode_000001.parquet
+
+  |       |-- episode_000002.parquet
+
+  |       |-- episode_000003.parquet
+
+  |       |-- episode_000004.parquet
+
+  |       |-- episode_000005.parquet
+
+  |       |-- episode_000006.parquet
+
+  |       |-- episode_000007.parquet
+
+  |       |-- episode_000008.parquet
+
+  |       |-- episode_000009.parquet
+
+  |       |-- episode_000010.parquet
+
+  |       `-- episode_000011.parquet
+
+  |       `-- ... (38 more entries)
+
+  |-- meta
+
+  |   |-- episodes.jsonl
+
+  |   |-- episodes_stats.jsonl
+
+  |   |-- info.json
+
+  |   `-- tasks.jsonl
+
+  |-- videos
+
+  |   `-- chunk-000
+
+  |       |-- observation.images.cam_front_chest_rgb
+
+  |       |-- observation.images.cam_front_head_rgb
+
+  |       |-- observation.images.cam_left_wrist_rgb
+
+  |       `-- observation.images.cam_right_wrist_rgb
+
+  |-- info.yaml
+
+  `-- README.md'
 splits:
   train: 0:49
 features:
@@ -439,5 +499,4 @@ additional_citations: 'If you use this dataset, please also consider citing:
 version_info: Initial Release
 data_path: data/chunk-{id}/episode_{id}.parquet
 video_path: videos/chunk-{id}/observation.images.cam_front_chest_rgb/episode_{id}.mp{id}
-sub_tasks: *id001
 video_url: videos/chunk-000/observation.images.cam_front_chest_rgb/episode_000000.mp4

dataset_info/AI2_Alphabot_2_organize_pencil_holder.yaml

@@ -37,6 +37,7 @@ objects:
 task_operation_type: fixed_single_arm
 task_instruction: &id001
 - Pick up the water-based marker from the table and place it into the pen holder.
+sub_tasks: *id001
 atomic_actions:
 - pick
 - insert
@@ -65,6 +66,7 @@ joint_rotation_dim: radian
 end_rotation_dim: radian
 end_translation_dim: meter
 annotations:
+- camera_params.json
 - eef_acc_mag_annotation.jsonl
 - eef_direction_annotation.jsonl
 - eef_velocity_annotation.jsonl
@@ -85,19 +87,77 @@ statistics:
 frame_num: 323948
 frame_range: 1M
 dataset_size: 17.18 GB
-data_structure: "AI2_Alphabot_2_organize_pencil_holder_0_qced_hardlink/\n|-- annotations\n\
-  |   |-- eef_acc_mag_annotation.jsonl\n|   |-- eef_direction_annotation.jsonl\n|\
-  \   |-- eef_velocity_annotation.jsonl\n|   |-- gripper_activity_annotation.jsonl\n\
-  |   `-- gripper_mode_annotation.jsonl\n|-- data\n|   `-- chunk-000\n|       |--\
-  \ episode_000000.parquet\n|       |-- episode_000001.parquet\n|       |-- episode_000002.parquet\n\
-  |       |-- episode_000003.parquet\n|       |-- episode_000004.parquet\n|      \
-  \ |-- episode_000005.parquet\n|       |-- episode_000006.parquet\n|       |-- episode_000007.parquet\n\
-  |       |-- episode_000008.parquet\n|       |-- episode_000009.parquet\n|      \
-  \ |-- episode_000010.parquet\n|       `-- episode_000011.parquet\n|       `-- ...\
-  \ (380 more entries)\n|-- meta\n|   |-- episodes.jsonl\n|   |-- episodes_stats.jsonl\n\
-  |   |-- info.json\n|   `-- tasks.jsonl\n`-- videos\n    `-- chunk-000\n        |--\
-  \ observation.images.cam_front_chest_rgb\n        |-- observation.images.cam_front_head_rgb\n\
-  \        |-- observation.images.cam_left_wrist_rgb\n        `-- observation.images.cam_right_wrist_rgb"
+data_structure: 'AI2_Alphabot_2_organize_pencil_holder_0_qced_hardlink/
+
+  |-- annotations
+
+  |   |-- camera_params.json
+
+  |   |-- eef_acc_mag_annotation.jsonl
+
+  |   |-- eef_direction_annotation.jsonl
+
+  |   |-- eef_velocity_annotation.jsonl
+
+  |   |-- gripper_activity_annotation.jsonl
+
+  |   `-- gripper_mode_annotation.jsonl
+
+  |-- data
+
+  |   `-- chunk-000
+
+  |       |-- episode_000000.parquet
+
+  |       |-- episode_000001.parquet
+
+  |       |-- episode_000002.parquet
+
+  |       |-- episode_000003.parquet
+
+  |       |-- episode_000004.parquet
+
+  |       |-- episode_000005.parquet
+
+  |       |-- episode_000006.parquet
+
+  |       |-- episode_000007.parquet
+
+  |       |-- episode_000008.parquet
+
+  |       |-- episode_000009.parquet
+
+  |       |-- episode_000010.parquet
+
+  |       `-- episode_000011.parquet
+
+  |       `-- ... (380 more entries)
+
+  |-- meta
+
+  |   |-- episodes.jsonl
+
+  |   |-- episodes_stats.jsonl
+
+  |   |-- info.json
+
+  |   `-- tasks.jsonl
+
+  |-- videos
+
+  |   `-- chunk-000
+
+  |       |-- observation.images.cam_front_chest_rgb
+
+  |       |-- observation.images.cam_front_head_rgb
+
+  |       |-- observation.images.cam_left_wrist_rgb
+
+  |       `-- observation.images.cam_right_wrist_rgb
+
+  |-- info.yaml
+
+  `-- README.md'
 splits:
   train: 0:391
 features:
@@ -434,5 +494,4 @@ additional_citations: 'If you use this dataset, please also consider citing:
 version_info: Initial Release
 data_path: data/chunk-{id}/episode_{id}.parquet
 video_path: videos/chunk-{id}/observation.images.cam_front_chest_rgb/episode_{id}.mp{id}
-sub_tasks: *id001
 video_url: videos/chunk-000/observation.images.cam_front_chest_rgb/episode_000000.mp4

dataset_info/AI2_Alphabot_2_package_fruit.yaml

@@ -21,7 +21,7 @@ extra_gated_fields:
     description: e.g., "Germany", "China", "United States"
 codebase_version: v2.1
 dataset_name: AI2_Alphabot_2_package_fruit
-dataset_uuid: 073995d9-0f0f-4238-8815-c136b98c5296
+dataset_uuid: 7ac529b5-5aec-4b02-953f-230125d9cf49
 scene_type:
   level1: Retail
   level2: Supermarket
@@ -66,33 +66,30 @@ joint_rotation_dim: radian
 end_rotation_dim: radian
 end_translation_dim: meter
 annotations:
-- camera_params.json
 - eef_acc_mag_annotation.jsonl
 - eef_direction_annotation.jsonl
 - eef_velocity_annotation.jsonl
 - gripper_activity_annotation.jsonl
 - gripper_mode_annotation.jsonl
 statistics:
-  total_episodes: 988
-  total_frames: 384538
+  total_episodes: 510
+  total_frames: 209718
   fps: 30
   total_tasks: 1
-  total_videos: 3952
+  total_videos: 2040
   total_chunks: 1
   chunks_size: 1000
   state_dim: 34
   action_dim: 34
   camera_views: 4
-  dataset_size: 7.08 GB
-frame_num: 384538
+  dataset_size: 3.34 GB
+frame_num: 209718
 frame_range: 1M
-dataset_size: 7.08 GB
-data_structure: 'AI2_Alphabot_2_package_fruit_2_qced_hardlink/
+dataset_size: 3.34 GB
+data_structure: 'AI2_Alphabot_2_package_fruit_0_qced_hardlink/
 
   |-- annotations
 
-  |   |-- camera_params.json
-
   |   |-- eef_acc_mag_annotation.jsonl
 
   |   |-- eef_direction_annotation.jsonl
@@ -131,7 +128,7 @@ data_structure: 'AI2_Alphabot_2_package_fruit_2_qced_hardlink/
 
   |       `-- episode_000011.parquet
 
-  |       `-- ... (976 more entries)
+  |       `-- ... (498 more entries)
 
   |-- meta
 
@@ -155,9 +152,11 @@ data_structure: 'AI2_Alphabot_2_package_fruit_2_qced_hardlink/
 
   |       `-- observation.images.cam_right_wrist_rgb
 
-  `-- info.yaml'
+  |-- info.yaml
+
+  `-- README.md'
 splits:
-  train: 0:987
+  train: 0:509
 features:
   observation.images.cam_front_chest_rgb:
     dtype: video

dataset_info/AI2_Alphabot_2_package_fruit_1.yaml

@@ -0,0 +1,497 @@
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
+dataset_name: AI2_Alphabot_2_package_fruit_1
+dataset_uuid: 16b68eaa-0375-4eeb-b689-36c46d2c794d
+scene_type:
+  level1: Retail
+  level2: Supermarket
+  level3: null
+  level4: null
+  level5: null
+env_type: real_world
+objects:
+- object_name: basket
+  color: brown
+- object_name: strawberry
+  color: red
+- object_name: mango
+  color: yellow
+task_operation_type: fixed_single_arm
+task_instruction: &id001
+- Pick the strawberry and mango from the table and place them into the basket.
+sub_tasks: *id001
+atomic_actions:
+- grasp
+- place
+robot_name: AI2_Alphabot_2
+end_effector_type: two_finger_end_effector
+tele_type: vr_controller
+sensor_list:
+- cam_front_chest_rgb
+- cam_front_head_rgb
+- cam_left_wrist_rgb
+- cam_right_wrist_rgb
+came_info:
+  cam_front_chest_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=h264,
+    pix_fmt=yuv420p
+  cam_front_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=h264,
+    pix_fmt=yuv420p
+  cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=h264,
+    pix_fmt=yuv420p
+  cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=h264,
+    pix_fmt=yuv420p
+depth_enabled: false
+coordinate_definition: right-hand-frame
+joint_rotation_dim: radian
+end_rotation_dim: radian
+end_translation_dim: meter
+annotations:
+- camera_params.json
+- eef_acc_mag_annotation.jsonl
+- eef_direction_annotation.jsonl
+- eef_velocity_annotation.jsonl
+- gripper_activity_annotation.jsonl
+- gripper_mode_annotation.jsonl
+statistics:
+  total_episodes: 309
+  total_frames: 138843
+  fps: 30
+  total_tasks: 1
+  total_videos: 1236
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 34
+  action_dim: 34
+  camera_views: 4
+  dataset_size: 2.15 GB
+frame_num: 138843
+frame_range: 1M
+dataset_size: 2.15 GB
+data_structure: 'AI2_Alphabot_2_package_fruit_1_qced_hardlink/
+
+  |-- annotations
+
+  |   |-- camera_params.json
+
+  |   |-- eef_acc_mag_annotation.jsonl
+
+  |   |-- eef_direction_annotation.jsonl
+
+  |   |-- eef_velocity_annotation.jsonl
+
+  |   |-- gripper_activity_annotation.jsonl
+
+  |   `-- gripper_mode_annotation.jsonl
+
+  |-- data
+
+  |   `-- chunk-000
+
+  |       |-- episode_000000.parquet
+
+  |       |-- episode_000001.parquet
+
+  |       |-- episode_000002.parquet
+
+  |       |-- episode_000003.parquet
+
+  |       |-- episode_000004.parquet
+
+  |       |-- episode_000005.parquet
+
+  |       |-- episode_000006.parquet
+
+  |       |-- episode_000007.parquet
+
+  |       |-- episode_000008.parquet
+
+  |       |-- episode_000009.parquet
+
+  |       |-- episode_000010.parquet
+
+  |       `-- episode_000011.parquet
+
+  |       `-- ... (297 more entries)
+
+  |-- meta
+
+  |   |-- episodes.jsonl
+
+  |   |-- episodes_stats.jsonl
+
+  |   |-- info.json
+
+  |   `-- tasks.jsonl
+
+  |-- videos
+
+  |   `-- chunk-000
+
+  |       |-- observation.images.cam_front_chest_rgb
+
+  |       |-- observation.images.cam_front_head_rgb
+
+  |       |-- observation.images.cam_left_wrist_rgb
+
+  |       `-- observation.images.cam_right_wrist_rgb
+
+  |-- info.yaml
+
+  `-- README.md'
+splits:
+  train: 0:308
+features:
+  observation.images.cam_front_chest_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: h264
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_front_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: h264
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: h264
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: h264
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 34
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - left_arm_joint_7_rad
+    - left_eef_pos_x_m
+    - left_eef_pos_y_m
+    - left_eef_pos_z_m
+    - left_eef_rot_euler_x_rad
+    - left_eef_rot_euler_y_rad
+    - left_eef_rot_euler_z_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - right_arm_joint_7_rad
+    - right_eef_pos_x_m
+    - right_eef_pos_y_m
+    - right_eef_pos_z_m
+    - right_eef_rot_euler_x_rad
+    - right_eef_rot_euler_y_rad
+    - right_eef_rot_euler_z_rad
+    - left_gripper_open
+    - right_gripper_open
+    - neck_joint_1_rad
+    - neck_joint_2_rad
+    - torso_joint_1_rad
+    - torso_joint_2_rad
+    - torso_joint_3_rad
+    - torso_joint_4_rad
+  action:
+    dtype: float32
+    shape:
+    - 34
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - left_arm_joint_7_rad
+    - left_eef_pos_x_m
+    - left_eef_pos_y_m
+    - left_eef_pos_z_m
+    - left_eef_rot_euler_x_rad
+    - left_eef_rot_euler_y_rad
+    - left_eef_rot_euler_z_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - right_arm_joint_7_rad
+    - right_eef_pos_x_m
+    - right_eef_pos_y_m
+    - right_eef_pos_z_m
+    - right_eef_rot_euler_x_rad
+    - right_eef_rot_euler_y_rad
+    - right_eef_rot_euler_z_rad
+    - left_gripper_open
+    - right_gripper_open
+    - neck_joint_1_rad
+    - neck_joint_2_rad
+    - torso_joint_1_rad
+    - torso_joint_2_rad
+    - torso_joint_3_rad
+    - torso_joint_4_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  gripper_open_scale_state:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    dtype: float64
+    shape:
+    - 2
+  gripper_open_scale_action:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    dtype: float64
+    shape:
+    - 2
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    dtype: float32
+    shape:
+    - 12
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    dtype: float32
+    shape:
+    - 12
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    dtype: int32
+    shape:
+    - 2
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    dtype: int32
+    shape:
+    - 2
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    dtype: int32
+    shape:
+    - 2
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    dtype: int32
+    shape:
+    - 2
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    dtype: int32
+    shape:
+    - 2
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    dtype: int32
+    shape:
+    - 2
+  gripper_mode_state:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    dtype: int32
+    shape:
+    - 2
+  gripper_mode_action:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    dtype: int32
+    shape:
+    - 2
+  gripper_activity_state:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    dtype: int32
+    shape:
+    - 2
+  gripper_activity_action:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    dtype: int32
+    shape:
+    - 2
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_front_chest_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_front_chest_rgb/episode_000000.mp4

dataset_info/AI2_Alphabot_2_package_fruit_2.yaml

@@ -0,0 +1,497 @@
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
+dataset_name: AI2_Alphabot_2_package_fruit_2
+dataset_uuid: 073995d9-0f0f-4238-8815-c136b98c5296
+scene_type:
+  level1: Retail
+  level2: Supermarket
+  level3: null
+  level4: null
+  level5: null
+env_type: real_world
+objects:
+- object_name: basket
+  color: brown
+- object_name: strawberry
+  color: red
+- object_name: mango
+  color: yellow
+task_operation_type: fixed_single_arm
+task_instruction: &id001
+- Pick the strawberry and mango from the table and place them into the basket.
+sub_tasks: *id001
+atomic_actions:
+- grasp
+- place
+robot_name: AI2_Alphabot_2
+end_effector_type: two_finger_end_effector
+tele_type: vr_controller
+sensor_list:
+- cam_front_chest_rgb
+- cam_front_head_rgb
+- cam_left_wrist_rgb
+- cam_right_wrist_rgb
+came_info:
+  cam_front_chest_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=h264,
+    pix_fmt=yuv420p
+  cam_front_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=h264,
+    pix_fmt=yuv420p
+  cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=h264,
+    pix_fmt=yuv420p
+  cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=h264,
+    pix_fmt=yuv420p
+depth_enabled: false
+coordinate_definition: right-hand-frame
+joint_rotation_dim: radian
+end_rotation_dim: radian
+end_translation_dim: meter
+annotations:
+- camera_params.json
+- eef_acc_mag_annotation.jsonl
+- eef_direction_annotation.jsonl
+- eef_velocity_annotation.jsonl
+- gripper_activity_annotation.jsonl
+- gripper_mode_annotation.jsonl
+statistics:
+  total_episodes: 988
+  total_frames: 384538
+  fps: 30
+  total_tasks: 1
+  total_videos: 3952
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 34
+  action_dim: 34
+  camera_views: 4
+  dataset_size: 7.08 GB
+frame_num: 384538
+frame_range: 1M
+dataset_size: 7.08 GB
+data_structure: 'AI2_Alphabot_2_package_fruit_2_qced_hardlink/
+
+  |-- annotations
+
+  |   |-- camera_params.json
+
+  |   |-- eef_acc_mag_annotation.jsonl
+
+  |   |-- eef_direction_annotation.jsonl
+
+  |   |-- eef_velocity_annotation.jsonl
+
+  |   |-- gripper_activity_annotation.jsonl
+
+  |   `-- gripper_mode_annotation.jsonl
+
+  |-- data
+
+  |   `-- chunk-000
+
+  |       |-- episode_000000.parquet
+
+  |       |-- episode_000001.parquet
+
+  |       |-- episode_000002.parquet
+
+  |       |-- episode_000003.parquet
+
+  |       |-- episode_000004.parquet
+
+  |       |-- episode_000005.parquet
+
+  |       |-- episode_000006.parquet
+
+  |       |-- episode_000007.parquet
+
+  |       |-- episode_000008.parquet
+
+  |       |-- episode_000009.parquet
+
+  |       |-- episode_000010.parquet
+
+  |       `-- episode_000011.parquet
+
+  |       `-- ... (976 more entries)
+
+  |-- meta
+
+  |   |-- episodes.jsonl
+
+  |   |-- episodes_stats.jsonl
+
+  |   |-- info.json
+
+  |   `-- tasks.jsonl
+
+  |-- videos
+
+  |   `-- chunk-000
+
+  |       |-- observation.images.cam_front_chest_rgb
+
+  |       |-- observation.images.cam_front_head_rgb
+
+  |       |-- observation.images.cam_left_wrist_rgb
+
+  |       `-- observation.images.cam_right_wrist_rgb
+
+  |-- info.yaml
+
+  `-- README.md'
+splits:
+  train: 0:987
+features:
+  observation.images.cam_front_chest_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: h264
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_front_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: h264
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: h264
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: h264
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 34
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - left_arm_joint_7_rad
+    - left_eef_pos_x_m
+    - left_eef_pos_y_m
+    - left_eef_pos_z_m
+    - left_eef_rot_euler_x_rad
+    - left_eef_rot_euler_y_rad
+    - left_eef_rot_euler_z_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - right_arm_joint_7_rad
+    - right_eef_pos_x_m
+    - right_eef_pos_y_m
+    - right_eef_pos_z_m
+    - right_eef_rot_euler_x_rad
+    - right_eef_rot_euler_y_rad
+    - right_eef_rot_euler_z_rad
+    - left_gripper_open
+    - right_gripper_open
+    - neck_joint_1_rad
+    - neck_joint_2_rad
+    - torso_joint_1_rad
+    - torso_joint_2_rad
+    - torso_joint_3_rad
+    - torso_joint_4_rad
+  action:
+    dtype: float32
+    shape:
+    - 34
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - left_arm_joint_7_rad
+    - left_eef_pos_x_m
+    - left_eef_pos_y_m
+    - left_eef_pos_z_m
+    - left_eef_rot_euler_x_rad
+    - left_eef_rot_euler_y_rad
+    - left_eef_rot_euler_z_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - right_arm_joint_7_rad
+    - right_eef_pos_x_m
+    - right_eef_pos_y_m
+    - right_eef_pos_z_m
+    - right_eef_rot_euler_x_rad
+    - right_eef_rot_euler_y_rad
+    - right_eef_rot_euler_z_rad
+    - left_gripper_open
+    - right_gripper_open
+    - neck_joint_1_rad
+    - neck_joint_2_rad
+    - torso_joint_1_rad
+    - torso_joint_2_rad
+    - torso_joint_3_rad
+    - torso_joint_4_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  gripper_open_scale_state:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    dtype: float64
+    shape:
+    - 2
+  gripper_open_scale_action:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    dtype: float64
+    shape:
+    - 2
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    dtype: float32
+    shape:
+    - 12
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    dtype: float32
+    shape:
+    - 12
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    dtype: int32
+    shape:
+    - 2
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    dtype: int32
+    shape:
+    - 2
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    dtype: int32
+    shape:
+    - 2
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    dtype: int32
+    shape:
+    - 2
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    dtype: int32
+    shape:
+    - 2
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    dtype: int32
+    shape:
+    - 2
+  gripper_mode_state:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    dtype: int32
+    shape:
+    - 2
+  gripper_mode_action:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    dtype: int32
+    shape:
+    - 2
+  gripper_activity_state:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    dtype: int32
+    shape:
+    - 2
+  gripper_activity_action:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    dtype: int32
+    shape:
+    - 2
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_front_chest_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_front_chest_rgb/episode_000000.mp4

dataset_info/AI2_Alphabot_2_pick_stirring_rod.yaml

@@ -41,6 +41,7 @@ objects:
 task_operation_type: fixed_single_arm
 task_instruction: &id001
 - Pick up the stirring rod with one hand, then place it down.
+sub_tasks: *id001
 atomic_actions:
 - pick
 - place
@@ -69,6 +70,7 @@ joint_rotation_dim: radian
 end_rotation_dim: radian
 end_translation_dim: meter
 annotations:
+- camera_params.json
 - eef_acc_mag_annotation.jsonl
 - eef_direction_annotation.jsonl
 - eef_velocity_annotation.jsonl
@@ -89,19 +91,77 @@ statistics:
 frame_num: 349882
 frame_range: 1M
 dataset_size: 11.64 GB
-data_structure: "AI2_Alphabot_2_pick_stirring_rod_0_qced_hardlink/\n|-- annotations\n\
-  |   |-- eef_acc_mag_annotation.jsonl\n|   |-- eef_direction_annotation.jsonl\n|\
-  \   |-- eef_velocity_annotation.jsonl\n|   |-- gripper_activity_annotation.jsonl\n\
-  |   `-- gripper_mode_annotation.jsonl\n|-- data\n|   `-- chunk-000\n|       |--\
-  \ episode_000000.parquet\n|       |-- episode_000001.parquet\n|       |-- episode_000002.parquet\n\
-  |       |-- episode_000003.parquet\n|       |-- episode_000004.parquet\n|      \
-  \ |-- episode_000005.parquet\n|       |-- episode_000006.parquet\n|       |-- episode_000007.parquet\n\
-  |       |-- episode_000008.parquet\n|       |-- episode_000009.parquet\n|      \
-  \ |-- episode_000010.parquet\n|       `-- episode_000011.parquet\n|       `-- ...\
-  \ (625 more entries)\n|-- meta\n|   |-- episodes.jsonl\n|   |-- episodes_stats.jsonl\n\
-  |   |-- info.json\n|   `-- tasks.jsonl\n`-- videos\n    `-- chunk-000\n        |--\
-  \ observation.images.cam_front_chest_rgb\n        |-- observation.images.cam_front_head_rgb\n\
-  \        |-- observation.images.cam_left_wrist_rgb\n        `-- observation.images.cam_right_wrist_rgb"
+data_structure: 'AI2_Alphabot_2_pick_stirring_rod_0_qced_hardlink/
+
+  |-- annotations
+
+  |   |-- camera_params.json
+
+  |   |-- eef_acc_mag_annotation.jsonl
+
+  |   |-- eef_direction_annotation.jsonl
+
+  |   |-- eef_velocity_annotation.jsonl
+
+  |   |-- gripper_activity_annotation.jsonl
+
+  |   `-- gripper_mode_annotation.jsonl
+
+  |-- data
+
+  |   `-- chunk-000
+
+  |       |-- episode_000000.parquet
+
+  |       |-- episode_000001.parquet
+
+  |       |-- episode_000002.parquet
+
+  |       |-- episode_000003.parquet
+
+  |       |-- episode_000004.parquet
+
+  |       |-- episode_000005.parquet
+
+  |       |-- episode_000006.parquet
+
+  |       |-- episode_000007.parquet
+
+  |       |-- episode_000008.parquet
+
+  |       |-- episode_000009.parquet
+
+  |       |-- episode_000010.parquet
+
+  |       `-- episode_000011.parquet
+
+  |       `-- ... (625 more entries)
+
+  |-- meta
+
+  |   |-- episodes.jsonl
+
+  |   |-- episodes_stats.jsonl
+
+  |   |-- info.json
+
+  |   `-- tasks.jsonl
+
+  |-- videos
+
+  |   `-- chunk-000
+
+  |       |-- observation.images.cam_front_chest_rgb
+
+  |       |-- observation.images.cam_front_head_rgb
+
+  |       |-- observation.images.cam_left_wrist_rgb
+
+  |       `-- observation.images.cam_right_wrist_rgb
+
+  |-- info.yaml
+
+  `-- README.md'
 splits:
   train: 0:636
 features:
@@ -438,5 +498,4 @@ additional_citations: 'If you use this dataset, please also consider citing:
 version_info: Initial Release
 data_path: data/chunk-{id}/episode_{id}.parquet
 video_path: videos/chunk-{id}/observation.images.cam_front_chest_rgb/episode_{id}.mp{id}
-sub_tasks: *id001
 video_url: videos/chunk-000/observation.images.cam_front_chest_rgb/episode_000000.mp4

dataset_info/AI2_Alphabot_2_pick_test_tube.yaml

@@ -40,6 +40,7 @@ task_operation_type: fixed_single_arm
 task_instruction: &id001
 - Hold the test tube with one hand and immerse one end into the beaker, then return
   it to the test tube rack.
+sub_tasks: *id001
 atomic_actions:
 - pick
 - move
@@ -69,6 +70,7 @@ joint_rotation_dim: radian
 end_rotation_dim: radian
 end_translation_dim: meter
 annotations:
+- camera_params.json
 - eef_acc_mag_annotation.jsonl
 - eef_direction_annotation.jsonl
 - eef_velocity_annotation.jsonl
@@ -89,19 +91,77 @@ statistics:
 frame_num: 164885
 frame_range: 1M
 dataset_size: 5.71 GB
-data_structure: "AI2_Alphabot_2_pick_test_tube_0_qced_hardlink/\n|-- annotations\n\
-  |   |-- eef_acc_mag_annotation.jsonl\n|   |-- eef_direction_annotation.jsonl\n|\
-  \   |-- eef_velocity_annotation.jsonl\n|   |-- gripper_activity_annotation.jsonl\n\
-  |   `-- gripper_mode_annotation.jsonl\n|-- data\n|   `-- chunk-000\n|       |--\
-  \ episode_000000.parquet\n|       |-- episode_000001.parquet\n|       |-- episode_000002.parquet\n\
-  |       |-- episode_000003.parquet\n|       |-- episode_000004.parquet\n|      \
-  \ |-- episode_000005.parquet\n|       |-- episode_000006.parquet\n|       |-- episode_000007.parquet\n\
-  |       |-- episode_000008.parquet\n|       |-- episode_000009.parquet\n|      \
-  \ |-- episode_000010.parquet\n|       `-- episode_000011.parquet\n|       `-- ...\
-  \ (185 more entries)\n|-- meta\n|   |-- episodes.jsonl\n|   |-- episodes_stats.jsonl\n\
-  |   |-- info.json\n|   `-- tasks.jsonl\n`-- videos\n    `-- chunk-000\n        |--\
-  \ observation.images.cam_front_chest_rgb\n        |-- observation.images.cam_front_head_rgb\n\
-  \        |-- observation.images.cam_left_wrist_rgb\n        `-- observation.images.cam_right_wrist_rgb"
+data_structure: 'AI2_Alphabot_2_pick_test_tube_0_qced_hardlink/
+
+  |-- annotations
+
+  |   |-- camera_params.json
+
+  |   |-- eef_acc_mag_annotation.jsonl
+
+  |   |-- eef_direction_annotation.jsonl
+
+  |   |-- eef_velocity_annotation.jsonl
+
+  |   |-- gripper_activity_annotation.jsonl
+
+  |   `-- gripper_mode_annotation.jsonl
+
+  |-- data
+
+  |   `-- chunk-000
+
+  |       |-- episode_000000.parquet
+
+  |       |-- episode_000001.parquet
+
+  |       |-- episode_000002.parquet
+
+  |       |-- episode_000003.parquet
+
+  |       |-- episode_000004.parquet
+
+  |       |-- episode_000005.parquet
+
+  |       |-- episode_000006.parquet
+
+  |       |-- episode_000007.parquet
+
+  |       |-- episode_000008.parquet
+
+  |       |-- episode_000009.parquet
+
+  |       |-- episode_000010.parquet
+
+  |       `-- episode_000011.parquet
+
+  |       `-- ... (185 more entries)
+
+  |-- meta
+
+  |   |-- episodes.jsonl
+
+  |   |-- episodes_stats.jsonl
+
+  |   |-- info.json
+
+  |   `-- tasks.jsonl
+
+  |-- videos
+
+  |   `-- chunk-000
+
+  |       |-- observation.images.cam_front_chest_rgb
+
+  |       |-- observation.images.cam_front_head_rgb
+
+  |       |-- observation.images.cam_left_wrist_rgb
+
+  |       `-- observation.images.cam_right_wrist_rgb
+
+  |-- info.yaml
+
+  `-- README.md'
 splits:
   train: 0:196
 features:
@@ -438,5 +498,4 @@ additional_citations: 'If you use this dataset, please also consider citing:
 version_info: Initial Release
 data_path: data/chunk-{id}/episode_{id}.parquet
 video_path: videos/chunk-{id}/observation.images.cam_front_chest_rgb/episode_{id}.mp{id}
-sub_tasks: *id001
 video_url: videos/chunk-000/observation.images.cam_front_chest_rgb/episode_000000.mp4

dataset_info/AI2_Alphabot_2_pick_thermometer.yaml

@@ -40,6 +40,7 @@ task_operation_type: fixed_single_arm
 task_instruction: &id001
 - Hold the thermometer with one hand and immerse one end into the beaker, then reinsert
   it into the test tube rack.
+sub_tasks: *id001
 atomic_actions:
 - pick
 - move
@@ -69,6 +70,7 @@ joint_rotation_dim: radian
 end_rotation_dim: radian
 end_translation_dim: meter
 annotations:
+- camera_params.json
 - eef_acc_mag_annotation.jsonl
 - eef_direction_annotation.jsonl
 - eef_velocity_annotation.jsonl
@@ -89,19 +91,77 @@ statistics:
 frame_num: 146029
 frame_range: 1M
 dataset_size: 5.25 GB
-data_structure: "AI2_Alphabot_2_pick_thermometer_0_qced_hardlink/\n|-- annotations\n\
-  |   |-- eef_acc_mag_annotation.jsonl\n|   |-- eef_direction_annotation.jsonl\n|\
-  \   |-- eef_velocity_annotation.jsonl\n|   |-- gripper_activity_annotation.jsonl\n\
-  |   `-- gripper_mode_annotation.jsonl\n|-- data\n|   `-- chunk-000\n|       |--\
-  \ episode_000000.parquet\n|       |-- episode_000001.parquet\n|       |-- episode_000002.parquet\n\
-  |       |-- episode_000003.parquet\n|       |-- episode_000004.parquet\n|      \
-  \ |-- episode_000005.parquet\n|       |-- episode_000006.parquet\n|       |-- episode_000007.parquet\n\
-  |       |-- episode_000008.parquet\n|       |-- episode_000009.parquet\n|      \
-  \ |-- episode_000010.parquet\n|       `-- episode_000011.parquet\n|       `-- ...\
-  \ (192 more entries)\n|-- meta\n|   |-- episodes.jsonl\n|   |-- episodes_stats.jsonl\n\
-  |   |-- info.json\n|   `-- tasks.jsonl\n`-- videos\n    `-- chunk-000\n        |--\
-  \ observation.images.cam_front_chest_rgb\n        |-- observation.images.cam_front_head_rgb\n\
-  \        |-- observation.images.cam_left_wrist_rgb\n        `-- observation.images.cam_right_wrist_rgb"
+data_structure: 'AI2_Alphabot_2_pick_thermometer_0_qced_hardlink/
+
+  |-- annotations
+
+  |   |-- camera_params.json
+
+  |   |-- eef_acc_mag_annotation.jsonl
+
+  |   |-- eef_direction_annotation.jsonl
+
+  |   |-- eef_velocity_annotation.jsonl
+
+  |   |-- gripper_activity_annotation.jsonl
+
+  |   `-- gripper_mode_annotation.jsonl
+
+  |-- data
+
+  |   `-- chunk-000
+
+  |       |-- episode_000000.parquet
+
+  |       |-- episode_000001.parquet
+
+  |       |-- episode_000002.parquet
+
+  |       |-- episode_000003.parquet
+
+  |       |-- episode_000004.parquet
+
+  |       |-- episode_000005.parquet
+
+  |       |-- episode_000006.parquet
+
+  |       |-- episode_000007.parquet
+
+  |       |-- episode_000008.parquet
+
+  |       |-- episode_000009.parquet
+
+  |       |-- episode_000010.parquet
+
+  |       `-- episode_000011.parquet
+
+  |       `-- ... (192 more entries)
+
+  |-- meta
+
+  |   |-- episodes.jsonl
+
+  |   |-- episodes_stats.jsonl
+
+  |   |-- info.json
+
+  |   `-- tasks.jsonl
+
+  |-- videos
+
+  |   `-- chunk-000
+
+  |       |-- observation.images.cam_front_chest_rgb
+
+  |       |-- observation.images.cam_front_head_rgb
+
+  |       |-- observation.images.cam_left_wrist_rgb
+
+  |       `-- observation.images.cam_right_wrist_rgb
+
+  |-- info.yaml
+
+  `-- README.md'
 splits:
   train: 0:203
 features:
@@ -438,5 +498,4 @@ additional_citations: 'If you use this dataset, please also consider citing:
 version_info: Initial Release
 data_path: data/chunk-{id}/episode_{id}.parquet
 video_path: videos/chunk-{id}/observation.images.cam_front_chest_rgb/episode_{id}.mp{id}
-sub_tasks: *id001
 video_url: videos/chunk-000/observation.images.cam_front_chest_rgb/episode_000000.mp4

dataset_info/AI2_Alphabot_2_place_Tapes.yaml

@@ -42,6 +42,7 @@ task_operation_type: fixed_single_arm
 task_instruction: &id001
 - Pick up the white tape and place it into the black box , Pick up the silver tape
   and place it into the brown box.
+sub_tasks: *id001
 atomic_actions:
 - pick
 - place
@@ -70,6 +71,7 @@ joint_rotation_dim: radian
 end_rotation_dim: radian
 end_translation_dim: meter
 annotations:
+- camera_params.json
 - eef_acc_mag_annotation.jsonl
 - eef_direction_annotation.jsonl
 - eef_velocity_annotation.jsonl
@@ -90,19 +92,77 @@ statistics:
 frame_num: 348056
 frame_range: 1M
 dataset_size: 13.46 GB
-data_structure: "AI2_Alphabot_2_place_Tapes_0_qced_hardlink/\n|-- annotations\n| \
-  \  |-- eef_acc_mag_annotation.jsonl\n|   |-- eef_direction_annotation.jsonl\n| \
-  \  |-- eef_velocity_annotation.jsonl\n|   |-- gripper_activity_annotation.jsonl\n\
-  |   `-- gripper_mode_annotation.jsonl\n|-- data\n|   `-- chunk-000\n|       |--\
-  \ episode_000000.parquet\n|       |-- episode_000001.parquet\n|       |-- episode_000002.parquet\n\
-  |       |-- episode_000003.parquet\n|       |-- episode_000004.parquet\n|      \
-  \ |-- episode_000005.parquet\n|       |-- episode_000006.parquet\n|       |-- episode_000007.parquet\n\
-  |       |-- episode_000008.parquet\n|       |-- episode_000009.parquet\n|      \
-  \ |-- episode_000010.parquet\n|       `-- episode_000011.parquet\n|       `-- ...\
-  \ (406 more entries)\n|-- meta\n|   |-- episodes.jsonl\n|   |-- episodes_stats.jsonl\n\
-  |   |-- info.json\n|   `-- tasks.jsonl\n`-- videos\n    `-- chunk-000\n        |--\
-  \ observation.images.cam_front_chest_rgb\n        |-- observation.images.cam_front_head_rgb\n\
-  \        |-- observation.images.cam_left_wrist_rgb\n        `-- observation.images.cam_right_wrist_rgb"
+data_structure: 'AI2_Alphabot_2_place_Tapes_0_qced_hardlink/
+
+  |-- annotations
+
+  |   |-- camera_params.json
+
+  |   |-- eef_acc_mag_annotation.jsonl
+
+  |   |-- eef_direction_annotation.jsonl
+
+  |   |-- eef_velocity_annotation.jsonl
+
+  |   |-- gripper_activity_annotation.jsonl
+
+  |   `-- gripper_mode_annotation.jsonl
+
+  |-- data
+
+  |   `-- chunk-000
+
+  |       |-- episode_000000.parquet
+
+  |       |-- episode_000001.parquet
+
+  |       |-- episode_000002.parquet
+
+  |       |-- episode_000003.parquet
+
+  |       |-- episode_000004.parquet
+
+  |       |-- episode_000005.parquet
+
+  |       |-- episode_000006.parquet
+
+  |       |-- episode_000007.parquet
+
+  |       |-- episode_000008.parquet
+
+  |       |-- episode_000009.parquet
+
+  |       |-- episode_000010.parquet
+
+  |       `-- episode_000011.parquet
+
+  |       `-- ... (406 more entries)
+
+  |-- meta
+
+  |   |-- episodes.jsonl
+
+  |   |-- episodes_stats.jsonl
+
+  |   |-- info.json
+
+  |   `-- tasks.jsonl
+
+  |-- videos
+
+  |   `-- chunk-000
+
+  |       |-- observation.images.cam_front_chest_rgb
+
+  |       |-- observation.images.cam_front_head_rgb
+
+  |       |-- observation.images.cam_left_wrist_rgb
+
+  |       `-- observation.images.cam_right_wrist_rgb
+
+  |-- info.yaml
+
+  `-- README.md'
 splits:
   train: 0:417
 features:
@@ -439,5 +499,4 @@ additional_citations: 'If you use this dataset, please also consider citing:
 version_info: Initial Release
 data_path: data/chunk-{id}/episode_{id}.parquet
 video_path: videos/chunk-{id}/observation.images.cam_front_chest_rgb/episode_{id}.mp{id}
-sub_tasks: *id001
 video_url: videos/chunk-000/observation.images.cam_front_chest_rgb/episode_000000.mp4

dataset_info/AI2_Alphabot_2_place_pen.yaml

@@ -39,6 +39,7 @@ objects:
 task_operation_type: fixed_dual_arm
 task_instruction: &id001
 - Place the pen into the pen holder.
+sub_tasks: *id001
 atomic_actions:
 - pick
 - pass
@@ -68,6 +69,7 @@ joint_rotation_dim: radian
 end_rotation_dim: radian
 end_translation_dim: meter
 annotations:
+- camera_params.json
 - eef_acc_mag_annotation.jsonl
 - eef_direction_annotation.jsonl
 - eef_velocity_annotation.jsonl
@@ -88,19 +90,77 @@ statistics:
 frame_num: 666384
 frame_range: 1M
 dataset_size: 13.18 GB
-data_structure: "AI2_Alphabot_2_place_pen_0_qced_hardlink/\n|-- annotations\n|   |--\
-  \ eef_acc_mag_annotation.jsonl\n|   |-- eef_direction_annotation.jsonl\n|   |--\
-  \ eef_velocity_annotation.jsonl\n|   |-- gripper_activity_annotation.jsonl\n|  \
-  \ `-- gripper_mode_annotation.jsonl\n|-- data\n|   `-- chunk-000\n|       |-- episode_000000.parquet\n\
-  |       |-- episode_000001.parquet\n|       |-- episode_000002.parquet\n|      \
-  \ |-- episode_000003.parquet\n|       |-- episode_000004.parquet\n|       |-- episode_000005.parquet\n\
-  |       |-- episode_000006.parquet\n|       |-- episode_000007.parquet\n|      \
-  \ |-- episode_000008.parquet\n|       |-- episode_000009.parquet\n|       |-- episode_000010.parquet\n\
-  |       `-- episode_000011.parquet\n|       `-- ... (515 more entries)\n|-- meta\n\
-  |   |-- episodes.jsonl\n|   |-- episodes_stats.jsonl\n|   |-- info.json\n|   `--\
-  \ tasks.jsonl\n`-- videos\n    `-- chunk-000\n        |-- observation.images.cam_front_chest_rgb\n\
-  \        |-- observation.images.cam_front_head_rgb\n        |-- observation.images.cam_left_wrist_rgb\n\
-  \        `-- observation.images.cam_right_wrist_rgb"
+data_structure: 'AI2_Alphabot_2_place_pen_0_qced_hardlink/
+
+  |-- annotations
+
+  |   |-- camera_params.json
+
+  |   |-- eef_acc_mag_annotation.jsonl
+
+  |   |-- eef_direction_annotation.jsonl
+
+  |   |-- eef_velocity_annotation.jsonl
+
+  |   |-- gripper_activity_annotation.jsonl
+
+  |   `-- gripper_mode_annotation.jsonl
+
+  |-- data
+
+  |   `-- chunk-000
+
+  |       |-- episode_000000.parquet
+
+  |       |-- episode_000001.parquet
+
+  |       |-- episode_000002.parquet
+
+  |       |-- episode_000003.parquet
+
+  |       |-- episode_000004.parquet
+
+  |       |-- episode_000005.parquet
+
+  |       |-- episode_000006.parquet
+
+  |       |-- episode_000007.parquet
+
+  |       |-- episode_000008.parquet
+
+  |       |-- episode_000009.parquet
+
+  |       |-- episode_000010.parquet
+
+  |       `-- episode_000011.parquet
+
+  |       `-- ... (515 more entries)
+
+  |-- meta
+
+  |   |-- episodes.jsonl
+
+  |   |-- episodes_stats.jsonl
+
+  |   |-- info.json
+
+  |   `-- tasks.jsonl
+
+  |-- videos
+
+  |   `-- chunk-000
+
+  |       |-- observation.images.cam_front_chest_rgb
+
+  |       |-- observation.images.cam_front_head_rgb
+
+  |       |-- observation.images.cam_left_wrist_rgb
+
+  |       `-- observation.images.cam_right_wrist_rgb
+
+  |-- info.yaml
+
+  `-- README.md'
 splits:
   train: 0:526
 features:
@@ -437,5 +497,4 @@ additional_citations: 'If you use this dataset, please also consider citing:
 version_info: Initial Release
 data_path: data/chunk-{id}/episode_{id}.parquet
 video_path: videos/chunk-{id}/observation.images.cam_front_chest_rgb/episode_{id}.mp{id}
-sub_tasks: *id001
 video_url: videos/chunk-000/observation.images.cam_front_chest_rgb/episode_000000.mp4

dataset_info/AI2_Alphabot_2_pour_liquid.yaml

@@ -30,17 +30,32 @@ scene_type:
   level5: null
 env_type: real_world
 objects:
-- object_name: beaker
+- id: table
+  name: table
+  color: black
+  anchor_policy: static
+- id: beaker
+  name: beaker
   color: transparent
-- object_name: test tube
+  anchor_policy: static
+- id: test_tube_rack
+  name: test tube rack
   color: transparent
-- object_name: test tube rack
+  anchor_policy: static
+- id: test_tube
+  name: test tube
   color: transparent
+  anchor_policy: static
+- id: water
+  name: water
+  color: transparent
+  anchor_policy: static
 task_operation_type: fixed_single_arm
-task_instruction: &id001
-- Pour the liquid from the test tube into the beaker using one hand.
+task_instruction: Pour the liquid from the test tube into the beaker using one hand
+sub_tasks:
+- Pour the liquid from the test tube into the beaker using one hand
 atomic_actions:
-- pick
+- grasp
 - pour
 - place
 robot_name:
@@ -68,6 +83,7 @@ joint_rotation_dim: radian
 end_rotation_dim: radian
 end_translation_dim: meter
 annotations:
+- camera_params.json
 - eef_acc_mag_annotation.jsonl
 - eef_direction_annotation.jsonl
 - eef_velocity_annotation.jsonl
@@ -88,19 +104,77 @@ statistics:
 frame_num: 36748
 frame_range: 100K
 dataset_size: 1.10 GB
-data_structure: "AI2_Alphabot_2_pour_liquid_0_qced_hardlink/\n|-- annotations\n| \
-  \  |-- eef_acc_mag_annotation.jsonl\n|   |-- eef_direction_annotation.jsonl\n| \
-  \  |-- eef_velocity_annotation.jsonl\n|   |-- gripper_activity_annotation.jsonl\n\
-  |   `-- gripper_mode_annotation.jsonl\n|-- data\n|   `-- chunk-000\n|       |--\
-  \ episode_000000.parquet\n|       |-- episode_000001.parquet\n|       |-- episode_000002.parquet\n\
-  |       |-- episode_000003.parquet\n|       |-- episode_000004.parquet\n|      \
-  \ |-- episode_000005.parquet\n|       |-- episode_000006.parquet\n|       |-- episode_000007.parquet\n\
-  |       |-- episode_000008.parquet\n|       |-- episode_000009.parquet\n|      \
-  \ |-- episode_000010.parquet\n|       `-- episode_000011.parquet\n|       `-- ...\
-  \ (37 more entries)\n|-- meta\n|   |-- episodes.jsonl\n|   |-- episodes_stats.jsonl\n\
-  |   |-- info.json\n|   `-- tasks.jsonl\n`-- videos\n    `-- chunk-000\n        |--\
-  \ observation.images.cam_front_chest_rgb\n        |-- observation.images.cam_front_head_rgb\n\
-  \        |-- observation.images.cam_left_wrist_rgb\n        `-- observation.images.cam_right_wrist_rgb"
+data_structure: 'AI2_Alphabot_2_pour_liquid_0_qced_hardlink/
+
+  |-- annotations
+
+  |   |-- camera_params.json
+
+  |   |-- eef_acc_mag_annotation.jsonl
+
+  |   |-- eef_direction_annotation.jsonl
+
+  |   |-- eef_velocity_annotation.jsonl
+
+  |   |-- gripper_activity_annotation.jsonl
+
+  |   `-- gripper_mode_annotation.jsonl
+
+  |-- data
+
+  |   `-- chunk-000
+
+  |       |-- episode_000000.parquet
+
+  |       |-- episode_000001.parquet
+
+  |       |-- episode_000002.parquet
+
+  |       |-- episode_000003.parquet
+
+  |       |-- episode_000004.parquet
+
+  |       |-- episode_000005.parquet
+
+  |       |-- episode_000006.parquet
+
+  |       |-- episode_000007.parquet
+
+  |       |-- episode_000008.parquet
+
+  |       |-- episode_000009.parquet
+
+  |       |-- episode_000010.parquet
+
+  |       `-- episode_000011.parquet
+
+  |       `-- ... (37 more entries)
+
+  |-- meta
+
+  |   |-- episodes.jsonl
+
+  |   |-- episodes_stats.jsonl
+
+  |   |-- info.json
+
+  |   `-- tasks.jsonl
+
+  |-- videos
+
+  |   `-- chunk-000
+
+  |       |-- observation.images.cam_front_chest_rgb
+
+  |       |-- observation.images.cam_front_head_rgb
+
+  |       |-- observation.images.cam_left_wrist_rgb
+
+  |       `-- observation.images.cam_right_wrist_rgb
+
+  |-- info.yaml
+
+  `-- README.md'
 splits:
   train: 0:48
 features:
@@ -437,5 +511,4 @@ additional_citations: 'If you use this dataset, please also consider citing:
 version_info: Initial Release
 data_path: data/chunk-{id}/episode_{id}.parquet
 video_path: videos/chunk-{id}/observation.images.cam_front_chest_rgb/episode_{id}.mp{id}
-sub_tasks: *id001
 video_url: videos/chunk-000/observation.images.cam_front_chest_rgb/episode_000000.mp4

dataset_info/AI2_Alphabot_2_pour_mung_beans.yaml

@@ -156,7 +156,9 @@ data_structure: 'AI2_Alphabot_2_pour_mung_beans_0_qced_hardlink/
 
   |       `-- observation.images.cam_right_wrist_rgb
 
-  `-- info.yaml'
+  |-- info.yaml
+
+  `-- README.md'
 splits:
   train: 0:212
 features:

dataset_info/AI2_Alphabot_2_pour_water.yaml

@@ -35,6 +35,7 @@ objects:
 task_operation_type: fixed_single_arm
 task_instruction: &id001
 - Grasp the thermos with one hand and pour water into the cup lid.
+sub_tasks: *id001
 atomic_actions:
 - pick
 - rotate
@@ -64,6 +65,7 @@ joint_rotation_dim: radian
 end_rotation_dim: radian
 end_translation_dim: meter
 annotations:
+- camera_params.json
 - eef_acc_mag_annotation.jsonl
 - eef_direction_annotation.jsonl
 - eef_velocity_annotation.jsonl
@@ -84,19 +86,77 @@ statistics:
 frame_num: 295245
 frame_range: 1M
 dataset_size: 4.54 GB
-data_structure: "AI2_Alphabot_2_pour_water_0_qced_hardlink/\n|-- annotations\n|  \
-  \ |-- eef_acc_mag_annotation.jsonl\n|   |-- eef_direction_annotation.jsonl\n|  \
-  \ |-- eef_velocity_annotation.jsonl\n|   |-- gripper_activity_annotation.jsonl\n\
-  |   `-- gripper_mode_annotation.jsonl\n|-- data\n|   `-- chunk-000\n|       |--\
-  \ episode_000000.parquet\n|       |-- episode_000001.parquet\n|       |-- episode_000002.parquet\n\
-  |       |-- episode_000003.parquet\n|       |-- episode_000004.parquet\n|      \
-  \ |-- episode_000005.parquet\n|       |-- episode_000006.parquet\n|       |-- episode_000007.parquet\n\
-  |       |-- episode_000008.parquet\n|       |-- episode_000009.parquet\n|      \
-  \ |-- episode_000010.parquet\n|       `-- episode_000011.parquet\n|       `-- ...\
-  \ (291 more entries)\n|-- meta\n|   |-- episodes.jsonl\n|   |-- episodes_stats.jsonl\n\
-  |   |-- info.json\n|   `-- tasks.jsonl\n`-- videos\n    `-- chunk-000\n        |--\
-  \ observation.images.cam_front_chest_rgb\n        |-- observation.images.cam_front_head_rgb\n\
-  \        |-- observation.images.cam_left_wrist_rgb\n        `-- observation.images.cam_right_wrist_rgb"
+data_structure: 'AI2_Alphabot_2_pour_water_0_qced_hardlink/
+
+  |-- annotations
+
+  |   |-- camera_params.json
+
+  |   |-- eef_acc_mag_annotation.jsonl
+
+  |   |-- eef_direction_annotation.jsonl
+
+  |   |-- eef_velocity_annotation.jsonl
+
+  |   |-- gripper_activity_annotation.jsonl
+
+  |   `-- gripper_mode_annotation.jsonl
+
+  |-- data
+
+  |   `-- chunk-000
+
+  |       |-- episode_000000.parquet
+
+  |       |-- episode_000001.parquet
+
+  |       |-- episode_000002.parquet
+
+  |       |-- episode_000003.parquet
+
+  |       |-- episode_000004.parquet
+
+  |       |-- episode_000005.parquet
+
+  |       |-- episode_000006.parquet
+
+  |       |-- episode_000007.parquet
+
+  |       |-- episode_000008.parquet
+
+  |       |-- episode_000009.parquet
+
+  |       |-- episode_000010.parquet
+
+  |       `-- episode_000011.parquet
+
+  |       `-- ... (291 more entries)
+
+  |-- meta
+
+  |   |-- episodes.jsonl
+
+  |   |-- episodes_stats.jsonl
+
+  |   |-- info.json
+
+  |   `-- tasks.jsonl
+
+  |-- videos
+
+  |   `-- chunk-000
+
+  |       |-- observation.images.cam_front_chest_rgb
+
+  |       |-- observation.images.cam_front_head_rgb
+
+  |       |-- observation.images.cam_left_wrist_rgb
+
+  |       `-- observation.images.cam_right_wrist_rgb
+
+  |-- info.yaml
+
+  `-- README.md'
 splits:
   train: 0:302
 features:
@@ -433,5 +493,4 @@ additional_citations: 'If you use this dataset, please also consider citing:
 version_info: Initial Release
 data_path: data/chunk-{id}/episode_{id}.parquet
 video_path: videos/chunk-{id}/observation.images.cam_front_chest_rgb/episode_{id}.mp{id}
-sub_tasks: *id001
 video_url: videos/chunk-000/observation.images.cam_front_chest_rgb/episode_000000.mp4

dataset_info/AI2_Alphabot_2_shake_beaker.yaml

@@ -40,6 +40,7 @@ task_operation_type: fixed_single_arm
 task_instruction: &id001
 - Pick up the beaker with the right gripper, shake it three times, and then put it
   down.
+sub_tasks: *id001
 atomic_actions:
 - pick
 - shake
@@ -69,6 +70,7 @@ joint_rotation_dim: radian
 end_rotation_dim: radian
 end_translation_dim: meter
 annotations:
+- camera_params.json
 - eef_acc_mag_annotation.jsonl
 - eef_direction_annotation.jsonl
 - eef_velocity_annotation.jsonl
@@ -89,19 +91,77 @@ statistics:
 frame_num: 43273
 frame_range: 100K
 dataset_size: 1.19 GB
-data_structure: "AI2_Alphabot_2_shake_beaker_0_qced_hardlink/\n|-- annotations\n|\
-  \   |-- eef_acc_mag_annotation.jsonl\n|   |-- eef_direction_annotation.jsonl\n|\
-  \   |-- eef_velocity_annotation.jsonl\n|   |-- gripper_activity_annotation.jsonl\n\
-  |   `-- gripper_mode_annotation.jsonl\n|-- data\n|   `-- chunk-000\n|       |--\
-  \ episode_000000.parquet\n|       |-- episode_000001.parquet\n|       |-- episode_000002.parquet\n\
-  |       |-- episode_000003.parquet\n|       |-- episode_000004.parquet\n|      \
-  \ |-- episode_000005.parquet\n|       |-- episode_000006.parquet\n|       |-- episode_000007.parquet\n\
-  |       |-- episode_000008.parquet\n|       |-- episode_000009.parquet\n|      \
-  \ |-- episode_000010.parquet\n|       `-- episode_000011.parquet\n|       `-- ...\
-  \ (36 more entries)\n|-- meta\n|   |-- episodes.jsonl\n|   |-- episodes_stats.jsonl\n\
-  |   |-- info.json\n|   `-- tasks.jsonl\n`-- videos\n    `-- chunk-000\n        |--\
-  \ observation.images.cam_front_chest_rgb\n        |-- observation.images.cam_front_head_rgb\n\
-  \        |-- observation.images.cam_left_wrist_rgb\n        `-- observation.images.cam_right_wrist_rgb"
+data_structure: 'AI2_Alphabot_2_shake_beaker_0_qced_hardlink/
+
+  |-- annotations
+
+  |   |-- camera_params.json
+
+  |   |-- eef_acc_mag_annotation.jsonl
+
+  |   |-- eef_direction_annotation.jsonl
+
+  |   |-- eef_velocity_annotation.jsonl
+
+  |   |-- gripper_activity_annotation.jsonl
+
+  |   `-- gripper_mode_annotation.jsonl
+
+  |-- data
+
+  |   `-- chunk-000
+
+  |       |-- episode_000000.parquet
+
+  |       |-- episode_000001.parquet
+
+  |       |-- episode_000002.parquet
+
+  |       |-- episode_000003.parquet
+
+  |       |-- episode_000004.parquet
+
+  |       |-- episode_000005.parquet
+
+  |       |-- episode_000006.parquet
+
+  |       |-- episode_000007.parquet
+
+  |       |-- episode_000008.parquet
+
+  |       |-- episode_000009.parquet
+
+  |       |-- episode_000010.parquet
+
+  |       `-- episode_000011.parquet
+
+  |       `-- ... (36 more entries)
+
+  |-- meta
+
+  |   |-- episodes.jsonl
+
+  |   |-- episodes_stats.jsonl
+
+  |   |-- info.json
+
+  |   `-- tasks.jsonl
+
+  |-- videos
+
+  |   `-- chunk-000
+
+  |       |-- observation.images.cam_front_chest_rgb
+
+  |       |-- observation.images.cam_front_head_rgb
+
+  |       |-- observation.images.cam_left_wrist_rgb
+
+  |       `-- observation.images.cam_right_wrist_rgb
+
+  |-- info.yaml
+
+  `-- README.md'
 splits:
   train: 0:47
 features:
@@ -438,5 +498,4 @@ additional_citations: 'If you use this dataset, please also consider citing:
 version_info: Initial Release
 data_path: data/chunk-{id}/episode_{id}.parquet
 video_path: videos/chunk-{id}/observation.images.cam_front_chest_rgb/episode_{id}.mp{id}
-sub_tasks: *id001
 video_url: videos/chunk-000/observation.images.cam_front_chest_rgb/episode_000000.mp4

dataset_info/AI2_Alphabot_2_shake_bottle.yaml

@@ -35,6 +35,7 @@ objects:
 task_operation_type: fixed_single_arm
 task_instruction: &id001
 - Grasp the erlenmeyer flask with one hand, shake it three times, then place it back.
+sub_tasks: *id001
 atomic_actions:
 - shake
 - place
@@ -64,6 +65,7 @@ joint_rotation_dim: radian
 end_rotation_dim: radian
 end_translation_dim: meter
 annotations:
+- camera_params.json
 - eef_acc_mag_annotation.jsonl
 - eef_direction_annotation.jsonl
 - eef_velocity_annotation.jsonl
@@ -84,19 +86,77 @@ statistics:
 frame_num: 330992
 frame_range: 1M
 dataset_size: 12.29 GB
-data_structure: "AI2_Alphabot_2_shake_bottle_0_qced_hardlink/\n|-- annotations\n|\
-  \   |-- eef_acc_mag_annotation.jsonl\n|   |-- eef_direction_annotation.jsonl\n|\
-  \   |-- eef_velocity_annotation.jsonl\n|   |-- gripper_activity_annotation.jsonl\n\
-  |   `-- gripper_mode_annotation.jsonl\n|-- data\n|   `-- chunk-000\n|       |--\
-  \ episode_000000.parquet\n|       |-- episode_000001.parquet\n|       |-- episode_000002.parquet\n\
-  |       |-- episode_000003.parquet\n|       |-- episode_000004.parquet\n|      \
-  \ |-- episode_000005.parquet\n|       |-- episode_000006.parquet\n|       |-- episode_000007.parquet\n\
-  |       |-- episode_000008.parquet\n|       |-- episode_000009.parquet\n|      \
-  \ |-- episode_000010.parquet\n|       `-- episode_000011.parquet\n|       `-- ...\
-  \ (382 more entries)\n|-- meta\n|   |-- episodes.jsonl\n|   |-- episodes_stats.jsonl\n\
-  |   |-- info.json\n|   `-- tasks.jsonl\n`-- videos\n    `-- chunk-000\n        |--\
-  \ observation.images.cam_front_chest_rgb\n        |-- observation.images.cam_front_head_rgb\n\
-  \        |-- observation.images.cam_left_wrist_rgb\n        `-- observation.images.cam_right_wrist_rgb"
+data_structure: 'AI2_Alphabot_2_shake_bottle_0_qced_hardlink/
+
+  |-- annotations
+
+  |   |-- camera_params.json
+
+  |   |-- eef_acc_mag_annotation.jsonl
+
+  |   |-- eef_direction_annotation.jsonl
+
+  |   |-- eef_velocity_annotation.jsonl
+
+  |   |-- gripper_activity_annotation.jsonl
+
+  |   `-- gripper_mode_annotation.jsonl
+
+  |-- data
+
+  |   `-- chunk-000
+
+  |       |-- episode_000000.parquet
+
+  |       |-- episode_000001.parquet
+
+  |       |-- episode_000002.parquet
+
+  |       |-- episode_000003.parquet
+
+  |       |-- episode_000004.parquet
+
+  |       |-- episode_000005.parquet
+
+  |       |-- episode_000006.parquet
+
+  |       |-- episode_000007.parquet
+
+  |       |-- episode_000008.parquet
+
+  |       |-- episode_000009.parquet
+
+  |       |-- episode_000010.parquet
+
+  |       `-- episode_000011.parquet
+
+  |       `-- ... (382 more entries)
+
+  |-- meta
+
+  |   |-- episodes.jsonl
+
+  |   |-- episodes_stats.jsonl
+
+  |   |-- info.json
+
+  |   `-- tasks.jsonl
+
+  |-- videos
+
+  |   `-- chunk-000
+
+  |       |-- observation.images.cam_front_chest_rgb
+
+  |       |-- observation.images.cam_front_head_rgb
+
+  |       |-- observation.images.cam_left_wrist_rgb
+
+  |       `-- observation.images.cam_right_wrist_rgb
+
+  |-- info.yaml
+
+  `-- README.md'
 splits:
   train: 0:393
 features:
@@ -433,5 +493,4 @@ additional_citations: 'If you use this dataset, please also consider citing:
 version_info: Initial Release
 data_path: data/chunk-{id}/episode_{id}.parquet
 video_path: videos/chunk-{id}/observation.images.cam_front_chest_rgb/episode_{id}.mp{id}
-sub_tasks: *id001
 video_url: videos/chunk-000/observation.images.cam_front_chest_rgb/episode_000000.mp4

dataset_info/AI2_Alphabot_2_shake_test_tube.yaml

@@ -21,10 +21,10 @@ extra_gated_fields:
     description: e.g., "Germany", "China", "United States"
 codebase_version: v2.1
 dataset_name: AI2_Alphabot_2_shake_test_tube
-dataset_uuid: 629fccc8-6581-4ca7-9ab7-b7240f573f16
+dataset_uuid: c80ab8f4-ed65-4d77-ac8e-0bbcdb6cb049
 scene_type:
-  level1: Retail
-  level2: Supermarket
+  level1: Lab
+  level2: Laboratory
   level3: null
   level4: null
   level5: null
@@ -34,17 +34,21 @@ objects:
   color: transparent
 - object_name: test tube
   color: transparent
+- object_name: glass board
+  color: transparent
 task_operation_type: fixed_single_arm
 task_instruction: &id001
-- Pick up the test tube from the test tube rack, shake it, then place it back into
-  the test tube rack.
+- Grasp the test tube with one hand, tap it against the glass, then shake the test
+  tube.
 sub_tasks: *id001
 atomic_actions:
 - grasp
-- rotate
-- insert
-robot_name: AI2_Alphabot_2
-end_effector_type: two_finger_end_effector
+- move
+- shake
+robot_name:
+- AI2_Alphabot_2
+end_effector_type:
+- two_finger_end_effector
 tele_type: vr_controller
 sensor_list:
 - cam_front_chest_rgb
@@ -73,21 +77,21 @@ annotations:
 - gripper_activity_annotation.jsonl
 - gripper_mode_annotation.jsonl
 statistics:
-  total_episodes: 399
-  total_frames: 313739
+  total_episodes: 50
+  total_frames: 29299
   fps: 30
   total_tasks: 1
-  total_videos: 1596
+  total_videos: 200
   total_chunks: 1
   chunks_size: 1000
   state_dim: 34
   action_dim: 34
   camera_views: 4
-  dataset_size: 24.50 GB
-frame_num: 313739
-frame_range: 1M
-dataset_size: 24.50 GB
-data_structure: 'AI2_Alphabot_2_shake_test_tube_1_qced_hardlink/
+  dataset_size: 869.07 MB
+frame_num: 29299
+frame_range: 100K
+dataset_size: 869.07 MB
+data_structure: 'AI2_Alphabot_2_shake_test_tube_0_qced_hardlink/
 
   |-- annotations
 
@@ -131,7 +135,7 @@ data_structure: 'AI2_Alphabot_2_shake_test_tube_1_qced_hardlink/
 
   |       `-- episode_000011.parquet
 
-  |       `-- ... (387 more entries)
+  |       `-- ... (38 more entries)
 
   |-- meta
 
@@ -155,9 +159,11 @@ data_structure: 'AI2_Alphabot_2_shake_test_tube_1_qced_hardlink/
 
   |       `-- observation.images.cam_right_wrist_rgb
 
-  `-- info.yaml'
+  |-- info.yaml
+
+  `-- README.md'
 splits:
-  train: 0:398
+  train: 0:49
 features:
   observation.images.cam_front_chest_rgb:
     dtype: video

dataset_info/AI2_Alphabot_2_shake_test_tube_1.yaml

@@ -0,0 +1,497 @@
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
+dataset_name: AI2_Alphabot_2_shake_test_tube_1
+dataset_uuid: 629fccc8-6581-4ca7-9ab7-b7240f573f16
+scene_type:
+  level1: Retail
+  level2: Supermarket
+  level3: null
+  level4: null
+  level5: null
+env_type: real_world
+objects:
+- object_name: test tube rack
+  color: transparent
+- object_name: test tube
+  color: transparent
+task_operation_type: fixed_single_arm
+task_instruction: &id001
+- Pick up the test tube from the test tube rack, shake it, then place it back into
+  the test tube rack.
+sub_tasks: *id001
+atomic_actions:
+- grasp
+- rotate
+- insert
+robot_name: AI2_Alphabot_2
+end_effector_type: two_finger_end_effector
+tele_type: vr_controller
+sensor_list:
+- cam_front_chest_rgb
+- cam_front_head_rgb
+- cam_left_wrist_rgb
+- cam_right_wrist_rgb
+came_info:
+  cam_front_chest_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_front_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+depth_enabled: false
+coordinate_definition: right-hand-frame
+joint_rotation_dim: radian
+end_rotation_dim: radian
+end_translation_dim: meter
+annotations:
+- camera_params.json
+- eef_acc_mag_annotation.jsonl
+- eef_direction_annotation.jsonl
+- eef_velocity_annotation.jsonl
+- gripper_activity_annotation.jsonl
+- gripper_mode_annotation.jsonl
+statistics:
+  total_episodes: 399
+  total_frames: 313739
+  fps: 30
+  total_tasks: 1
+  total_videos: 1596
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 34
+  action_dim: 34
+  camera_views: 4
+  dataset_size: 24.50 GB
+frame_num: 313739
+frame_range: 1M
+dataset_size: 24.50 GB
+data_structure: 'AI2_Alphabot_2_shake_test_tube_1_qced_hardlink/
+
+  |-- annotations
+
+  |   |-- camera_params.json
+
+  |   |-- eef_acc_mag_annotation.jsonl
+
+  |   |-- eef_direction_annotation.jsonl
+
+  |   |-- eef_velocity_annotation.jsonl
+
+  |   |-- gripper_activity_annotation.jsonl
+
+  |   `-- gripper_mode_annotation.jsonl
+
+  |-- data
+
+  |   `-- chunk-000
+
+  |       |-- episode_000000.parquet
+
+  |       |-- episode_000001.parquet
+
+  |       |-- episode_000002.parquet
+
+  |       |-- episode_000003.parquet
+
+  |       |-- episode_000004.parquet
+
+  |       |-- episode_000005.parquet
+
+  |       |-- episode_000006.parquet
+
+  |       |-- episode_000007.parquet
+
+  |       |-- episode_000008.parquet
+
+  |       |-- episode_000009.parquet
+
+  |       |-- episode_000010.parquet
+
+  |       `-- episode_000011.parquet
+
+  |       `-- ... (387 more entries)
+
+  |-- meta
+
+  |   |-- episodes.jsonl
+
+  |   |-- episodes_stats.jsonl
+
+  |   |-- info.json
+
+  |   `-- tasks.jsonl
+
+  |-- videos
+
+  |   `-- chunk-000
+
+  |       |-- observation.images.cam_front_chest_rgb
+
+  |       |-- observation.images.cam_front_head_rgb
+
+  |       |-- observation.images.cam_left_wrist_rgb
+
+  |       `-- observation.images.cam_right_wrist_rgb
+
+  |-- info.yaml
+
+  `-- README.md'
+splits:
+  train: 0:398
+features:
+  observation.images.cam_front_chest_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_front_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 34
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - left_arm_joint_7_rad
+    - left_eef_pos_x_m
+    - left_eef_pos_y_m
+    - left_eef_pos_z_m
+    - left_eef_rot_euler_x_rad
+    - left_eef_rot_euler_y_rad
+    - left_eef_rot_euler_z_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - right_arm_joint_7_rad
+    - right_eef_pos_x_m
+    - right_eef_pos_y_m
+    - right_eef_pos_z_m
+    - right_eef_rot_euler_x_rad
+    - right_eef_rot_euler_y_rad
+    - right_eef_rot_euler_z_rad
+    - left_gripper_open
+    - right_gripper_open
+    - neck_joint_1_rad
+    - neck_joint_2_rad
+    - torso_joint_1_rad
+    - torso_joint_2_rad
+    - torso_joint_3_rad
+    - torso_joint_4_rad
+  action:
+    dtype: float32
+    shape:
+    - 34
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - left_arm_joint_7_rad
+    - left_eef_pos_x_m
+    - left_eef_pos_y_m
+    - left_eef_pos_z_m
+    - left_eef_rot_euler_x_rad
+    - left_eef_rot_euler_y_rad
+    - left_eef_rot_euler_z_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - right_arm_joint_7_rad
+    - right_eef_pos_x_m
+    - right_eef_pos_y_m
+    - right_eef_pos_z_m
+    - right_eef_rot_euler_x_rad
+    - right_eef_rot_euler_y_rad
+    - right_eef_rot_euler_z_rad
+    - left_gripper_open
+    - right_gripper_open
+    - neck_joint_1_rad
+    - neck_joint_2_rad
+    - torso_joint_1_rad
+    - torso_joint_2_rad
+    - torso_joint_3_rad
+    - torso_joint_4_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  gripper_open_scale_state:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    dtype: float64
+    shape:
+    - 2
+  gripper_open_scale_action:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    dtype: float64
+    shape:
+    - 2
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    dtype: float32
+    shape:
+    - 12
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    dtype: float32
+    shape:
+    - 12
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    dtype: int32
+    shape:
+    - 2
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    dtype: int32
+    shape:
+    - 2
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    dtype: int32
+    shape:
+    - 2
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    dtype: int32
+    shape:
+    - 2
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    dtype: int32
+    shape:
+    - 2
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    dtype: int32
+    shape:
+    - 2
+  gripper_mode_state:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    dtype: int32
+    shape:
+    - 2
+  gripper_mode_action:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    dtype: int32
+    shape:
+    - 2
+  gripper_activity_state:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    dtype: int32
+    shape:
+    - 2
+  gripper_activity_action:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    dtype: int32
+    shape:
+    - 2
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_front_chest_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_front_chest_rgb/episode_000000.mp4

dataset_info/AI2_Alphabot_2_sort_angle_iron.yaml

@@ -37,6 +37,7 @@ objects:
 task_operation_type: fixed_single_arm
 task_instruction: &id001
 - Use one hand to pick up the angle iron from the table and place it into the box.
+sub_tasks: *id001
 atomic_actions:
 - pick
 - place
@@ -65,6 +66,7 @@ joint_rotation_dim: radian
 end_rotation_dim: radian
 end_translation_dim: meter
 annotations:
+- camera_params.json
 - eef_acc_mag_annotation.jsonl
 - eef_direction_annotation.jsonl
 - eef_velocity_annotation.jsonl
@@ -85,19 +87,77 @@ statistics:
 frame_num: 256772
 frame_range: 1M
 dataset_size: 7.92 GB
-data_structure: "AI2_Alphabot_2_sort_angle_iron_0_qced_hardlink/\n|-- annotations\n\
-  |   |-- eef_acc_mag_annotation.jsonl\n|   |-- eef_direction_annotation.jsonl\n|\
-  \   |-- eef_velocity_annotation.jsonl\n|   |-- gripper_activity_annotation.jsonl\n\
-  |   `-- gripper_mode_annotation.jsonl\n|-- data\n|   `-- chunk-000\n|       |--\
-  \ episode_000000.parquet\n|       |-- episode_000001.parquet\n|       |-- episode_000002.parquet\n\
-  |       |-- episode_000003.parquet\n|       |-- episode_000004.parquet\n|      \
-  \ |-- episode_000005.parquet\n|       |-- episode_000006.parquet\n|       |-- episode_000007.parquet\n\
-  |       |-- episode_000008.parquet\n|       |-- episode_000009.parquet\n|      \
-  \ |-- episode_000010.parquet\n|       `-- episode_000011.parquet\n|       `-- ...\
-  \ (283 more entries)\n|-- meta\n|   |-- episodes.jsonl\n|   |-- episodes_stats.jsonl\n\
-  |   |-- info.json\n|   `-- tasks.jsonl\n`-- videos\n    `-- chunk-000\n        |--\
-  \ observation.images.cam_front_chest_rgb\n        |-- observation.images.cam_front_head_rgb\n\
-  \        |-- observation.images.cam_left_wrist_rgb\n        `-- observation.images.cam_right_wrist_rgb"
+data_structure: 'AI2_Alphabot_2_sort_angle_iron_0_qced_hardlink/
+
+  |-- annotations
+
+  |   |-- camera_params.json
+
+  |   |-- eef_acc_mag_annotation.jsonl
+
+  |   |-- eef_direction_annotation.jsonl
+
+  |   |-- eef_velocity_annotation.jsonl
+
+  |   |-- gripper_activity_annotation.jsonl
+
+  |   `-- gripper_mode_annotation.jsonl
+
+  |-- data
+
+  |   `-- chunk-000
+
+  |       |-- episode_000000.parquet
+
+  |       |-- episode_000001.parquet
+
+  |       |-- episode_000002.parquet
+
+  |       |-- episode_000003.parquet
+
+  |       |-- episode_000004.parquet
+
+  |       |-- episode_000005.parquet
+
+  |       |-- episode_000006.parquet
+
+  |       |-- episode_000007.parquet
+
+  |       |-- episode_000008.parquet
+
+  |       |-- episode_000009.parquet
+
+  |       |-- episode_000010.parquet
+
+  |       `-- episode_000011.parquet
+
+  |       `-- ... (283 more entries)
+
+  |-- meta
+
+  |   |-- episodes.jsonl
+
+  |   |-- episodes_stats.jsonl
+
+  |   |-- info.json
+
+  |   `-- tasks.jsonl
+
+  |-- videos
+
+  |   `-- chunk-000
+
+  |       |-- observation.images.cam_front_chest_rgb
+
+  |       |-- observation.images.cam_front_head_rgb
+
+  |       |-- observation.images.cam_left_wrist_rgb
+
+  |       `-- observation.images.cam_right_wrist_rgb
+
+  |-- info.yaml
+
+  `-- README.md'
 splits:
   train: 0:294
 features:
@@ -434,5 +494,4 @@ additional_citations: 'If you use this dataset, please also consider citing:
 version_info: Initial Release
 data_path: data/chunk-{id}/episode_{id}.parquet
 video_path: videos/chunk-{id}/observation.images.cam_front_chest_rgb/episode_{id}.mp{id}
-sub_tasks: *id001
 video_url: videos/chunk-000/observation.images.cam_front_chest_rgb/episode_000000.mp4

dataset_info/AI2_Alphabot_2_sort_garbage_bag_and_box.yaml

@@ -39,6 +39,7 @@ task_instruction: &id001
 - Pick up the garbage bag with the left hand and transfer it to the right hand.
 - Place the garbage bag into the right storage box with the right hand.
 - Pick up the box with the right hand and place it into the right storage box.
+sub_tasks: *id001
 atomic_actions:
 - move
 - pick
@@ -67,6 +68,7 @@ joint_rotation_dim: radian
 end_rotation_dim: radian
 end_translation_dim: meter
 annotations:
+- camera_params.json
 - eef_acc_mag_annotation.jsonl
 - eef_direction_annotation.jsonl
 - eef_velocity_annotation.jsonl
@@ -87,19 +89,77 @@ statistics:
 frame_num: 612124
 frame_range: 1M
 dataset_size: 12.83 GB
-data_structure: "AI2_Alphabot_2_sort_garbage_bag_and_box_0_qced_hardlink/\n|-- annotations\n\
-  |   |-- eef_acc_mag_annotation.jsonl\n|   |-- eef_direction_annotation.jsonl\n|\
-  \   |-- eef_velocity_annotation.jsonl\n|   |-- gripper_activity_annotation.jsonl\n\
-  |   `-- gripper_mode_annotation.jsonl\n|-- data\n|   `-- chunk-000\n|       |--\
-  \ episode_000000.parquet\n|       |-- episode_000001.parquet\n|       |-- episode_000002.parquet\n\
-  |       |-- episode_000003.parquet\n|       |-- episode_000004.parquet\n|      \
-  \ |-- episode_000005.parquet\n|       |-- episode_000006.parquet\n|       |-- episode_000007.parquet\n\
-  |       |-- episode_000008.parquet\n|       |-- episode_000009.parquet\n|      \
-  \ |-- episode_000010.parquet\n|       `-- episode_000011.parquet\n|       `-- ...\
-  \ (903 more entries)\n|-- meta\n|   |-- episodes.jsonl\n|   |-- episodes_stats.jsonl\n\
-  |   |-- info.json\n|   `-- tasks.jsonl\n`-- videos\n    `-- chunk-000\n        |--\
-  \ observation.images.cam_front_chest_rgb\n        |-- observation.images.cam_front_head_rgb\n\
-  \        |-- observation.images.cam_left_wrist_rgb\n        `-- observation.images.cam_right_wrist_rgb"
+data_structure: 'AI2_Alphabot_2_sort_garbage_bag_and_box_0_qced_hardlink/
+
+  |-- annotations
+
+  |   |-- camera_params.json
+
+  |   |-- eef_acc_mag_annotation.jsonl
+
+  |   |-- eef_direction_annotation.jsonl
+
+  |   |-- eef_velocity_annotation.jsonl
+
+  |   |-- gripper_activity_annotation.jsonl
+
+  |   `-- gripper_mode_annotation.jsonl
+
+  |-- data
+
+  |   `-- chunk-000
+
+  |       |-- episode_000000.parquet
+
+  |       |-- episode_000001.parquet
+
+  |       |-- episode_000002.parquet
+
+  |       |-- episode_000003.parquet
+
+  |       |-- episode_000004.parquet
+
+  |       |-- episode_000005.parquet
+
+  |       |-- episode_000006.parquet
+
+  |       |-- episode_000007.parquet
+
+  |       |-- episode_000008.parquet
+
+  |       |-- episode_000009.parquet
+
+  |       |-- episode_000010.parquet
+
+  |       `-- episode_000011.parquet
+
+  |       `-- ... (903 more entries)
+
+  |-- meta
+
+  |   |-- episodes.jsonl
+
+  |   |-- episodes_stats.jsonl
+
+  |   |-- info.json
+
+  |   `-- tasks.jsonl
+
+  |-- videos
+
+  |   `-- chunk-000
+
+  |       |-- observation.images.cam_front_chest_rgb
+
+  |       |-- observation.images.cam_front_head_rgb
+
+  |       |-- observation.images.cam_left_wrist_rgb
+
+  |       `-- observation.images.cam_right_wrist_rgb
+
+  |-- info.yaml
+
+  `-- README.md'
 splits:
   train: 0:914
 features:
@@ -436,5 +496,4 @@ additional_citations: 'If you use this dataset, please also consider citing:
 version_info: Initial Release
 data_path: data/chunk-{id}/episode_{id}.parquet
 video_path: videos/chunk-{id}/observation.images.cam_front_chest_rgb/episode_{id}.mp{id}
-sub_tasks: *id001
 video_url: videos/chunk-000/observation.images.cam_front_chest_rgb/episode_000000.mp4

dataset_info/AI2_Alphabot_2_sort_personal_care_items.yaml

@@ -30,24 +30,36 @@ scene_type:
   level5: null
 env_type: real_world
 objects:
-- object_name: open top box
-  color: blue
-- object_name: soap
+- id: soap
+  name: soap
   color: white
-- object_name: shampoo
+  anchor_policy: static
+- id: open_top_box
+  name: open top box
   color: white
-- object_name: open top box
-  color: yellow
-- object_name: open top box
+  anchor_policy: static
+- id: open_top_box
+  name: open top box
+  color: blue
+  anchor_policy: static
+- id: open_top_box
+  name: open top box
   color: red
-- object_name: open top box
+  anchor_policy: static
+- id: facial_cleanser
+  name: facial cleanser
+  color: white
+  anchor_policy: static
+- id: table
+  name: table
   color: white
+  anchor_policy: static
 task_operation_type: fixed_dual_arm
-task_instruction: &id001
+task_instruction: Bimanual collaborative sorting of washing and personal care products
+sub_tasks:
 - Bimanual collaborative sorting of washing and personal care products
 atomic_actions:
 - grasp
-- move
 - pass
 - place
 robot_name:
@@ -75,6 +87,7 @@ joint_rotation_dim: radian
 end_rotation_dim: radian
 end_translation_dim: meter
 annotations:
+- camera_params.json
 - eef_acc_mag_annotation.jsonl
 - eef_direction_annotation.jsonl
 - eef_velocity_annotation.jsonl
@@ -95,19 +108,77 @@ statistics:
 frame_num: 455317
 frame_range: 1M
 dataset_size: 13.57 GB
-data_structure: "AI2_Alphabot_2_sort_personal_care_items_0_qced_hardlink/\n|-- annotations\n\
-  |   |-- eef_acc_mag_annotation.jsonl\n|   |-- eef_direction_annotation.jsonl\n|\
-  \   |-- eef_velocity_annotation.jsonl\n|   |-- gripper_activity_annotation.jsonl\n\
-  |   `-- gripper_mode_annotation.jsonl\n|-- data\n|   `-- chunk-000\n|       |--\
-  \ episode_000000.parquet\n|       |-- episode_000001.parquet\n|       |-- episode_000002.parquet\n\
-  |       |-- episode_000003.parquet\n|       |-- episode_000004.parquet\n|      \
-  \ |-- episode_000005.parquet\n|       |-- episode_000006.parquet\n|       |-- episode_000007.parquet\n\
-  |       |-- episode_000008.parquet\n|       |-- episode_000009.parquet\n|      \
-  \ |-- episode_000010.parquet\n|       `-- episode_000011.parquet\n|       `-- ...\
-  \ (484 more entries)\n|-- meta\n|   |-- episodes.jsonl\n|   |-- episodes_stats.jsonl\n\
-  |   |-- info.json\n|   `-- tasks.jsonl\n`-- videos\n    `-- chunk-000\n        |--\
-  \ observation.images.cam_front_chest_rgb\n        |-- observation.images.cam_front_head_rgb\n\
-  \        |-- observation.images.cam_left_wrist_rgb\n        `-- observation.images.cam_right_wrist_rgb"
+data_structure: 'AI2_Alphabot_2_sort_personal_care_items_0_qced_hardlink/
+
+  |-- annotations
+
+  |   |-- camera_params.json
+
+  |   |-- eef_acc_mag_annotation.jsonl
+
+  |   |-- eef_direction_annotation.jsonl
+
+  |   |-- eef_velocity_annotation.jsonl
+
+  |   |-- gripper_activity_annotation.jsonl
+
+  |   `-- gripper_mode_annotation.jsonl
+
+  |-- data
+
+  |   `-- chunk-000
+
+  |       |-- episode_000000.parquet
+
+  |       |-- episode_000001.parquet
+
+  |       |-- episode_000002.parquet
+
+  |       |-- episode_000003.parquet
+
+  |       |-- episode_000004.parquet
+
+  |       |-- episode_000005.parquet
+
+  |       |-- episode_000006.parquet
+
+  |       |-- episode_000007.parquet
+
+  |       |-- episode_000008.parquet
+
+  |       |-- episode_000009.parquet
+
+  |       |-- episode_000010.parquet
+
+  |       `-- episode_000011.parquet
+
+  |       `-- ... (484 more entries)
+
+  |-- meta
+
+  |   |-- episodes.jsonl
+
+  |   |-- episodes_stats.jsonl
+
+  |   |-- info.json
+
+  |   `-- tasks.jsonl
+
+  |-- videos
+
+  |   `-- chunk-000
+
+  |       |-- observation.images.cam_front_chest_rgb
+
+  |       |-- observation.images.cam_front_head_rgb
+
+  |       |-- observation.images.cam_left_wrist_rgb
+
+  |       `-- observation.images.cam_right_wrist_rgb
+
+  |-- info.yaml
+
+  `-- README.md'
 splits:
   train: 0:495
 features:
@@ -444,5 +515,4 @@ additional_citations: 'If you use this dataset, please also consider citing:
 version_info: Initial Release
 data_path: data/chunk-{id}/episode_{id}.parquet
 video_path: videos/chunk-{id}/observation.images.cam_front_chest_rgb/episode_{id}.mp{id}
-sub_tasks: *id001
 video_url: videos/chunk-000/observation.images.cam_front_chest_rgb/episode_000000.mp4

dataset_info/AI2_Alphabot_2_sort_utensils.yaml

@@ -160,7 +160,9 @@ data_structure: 'AI2_Alphabot_2_sort_utensils_0_qced_hardlink/
 
   |       `-- observation.images.cam_right_wrist_rgb
 
-  `-- info.yaml'
+  |-- info.yaml
+
+  `-- README.md'
 splits:
   train: 0:194
 features:

dataset_info/AI2_Alphabot_2_sort_warehouse.yaml

@@ -44,6 +44,7 @@ task_operation_type: fixed_dual_arm
 task_instruction: &id001
 - Pick the cotton swabs from the blue box and place them into the white box.
 - Pick the garbage bags from the red box and place them into the white box.
+sub_tasks: *id001
 atomic_actions:
 - pick
 - move
@@ -74,6 +75,7 @@ joint_rotation_dim: radian
 end_rotation_dim: radian
 end_translation_dim: meter
 annotations:
+- camera_params.json
 - eef_acc_mag_annotation.jsonl
 - eef_direction_annotation.jsonl
 - eef_velocity_annotation.jsonl
@@ -94,19 +96,77 @@ statistics:
 frame_num: 434269
 frame_range: 1M
 dataset_size: 11.99 GB
-data_structure: "AI2_Alphabot_2_sort_warehouse_0_qced_hardlink/\n|-- annotations\n\
-  |   |-- eef_acc_mag_annotation.jsonl\n|   |-- eef_direction_annotation.jsonl\n|\
-  \   |-- eef_velocity_annotation.jsonl\n|   |-- gripper_activity_annotation.jsonl\n\
-  |   `-- gripper_mode_annotation.jsonl\n|-- data\n|   `-- chunk-000\n|       |--\
-  \ episode_000000.parquet\n|       |-- episode_000001.parquet\n|       |-- episode_000002.parquet\n\
-  |       |-- episode_000003.parquet\n|       |-- episode_000004.parquet\n|      \
-  \ |-- episode_000005.parquet\n|       |-- episode_000006.parquet\n|       |-- episode_000007.parquet\n\
-  |       |-- episode_000008.parquet\n|       |-- episode_000009.parquet\n|      \
-  \ |-- episode_000010.parquet\n|       `-- episode_000011.parquet\n|       `-- ...\
-  \ (488 more entries)\n|-- meta\n|   |-- episodes.jsonl\n|   |-- episodes_stats.jsonl\n\
-  |   |-- info.json\n|   `-- tasks.jsonl\n`-- videos\n    `-- chunk-000\n        |--\
-  \ observation.images.cam_front_chest_rgb\n        |-- observation.images.cam_front_head_rgb\n\
-  \        |-- observation.images.cam_left_wrist_rgb\n        `-- observation.images.cam_right_wrist_rgb"
+data_structure: 'AI2_Alphabot_2_sort_warehouse_0_qced_hardlink/
+
+  |-- annotations
+
+  |   |-- camera_params.json
+
+  |   |-- eef_acc_mag_annotation.jsonl
+
+  |   |-- eef_direction_annotation.jsonl
+
+  |   |-- eef_velocity_annotation.jsonl
+
+  |   |-- gripper_activity_annotation.jsonl
+
+  |   `-- gripper_mode_annotation.jsonl
+
+  |-- data
+
+  |   `-- chunk-000
+
+  |       |-- episode_000000.parquet
+
+  |       |-- episode_000001.parquet
+
+  |       |-- episode_000002.parquet
+
+  |       |-- episode_000003.parquet
+
+  |       |-- episode_000004.parquet
+
+  |       |-- episode_000005.parquet
+
+  |       |-- episode_000006.parquet
+
+  |       |-- episode_000007.parquet
+
+  |       |-- episode_000008.parquet
+
+  |       |-- episode_000009.parquet
+
+  |       |-- episode_000010.parquet
+
+  |       `-- episode_000011.parquet
+
+  |       `-- ... (488 more entries)
+
+  |-- meta
+
+  |   |-- episodes.jsonl
+
+  |   |-- episodes_stats.jsonl
+
+  |   |-- info.json
+
+  |   `-- tasks.jsonl
+
+  |-- videos
+
+  |   `-- chunk-000
+
+  |       |-- observation.images.cam_front_chest_rgb
+
+  |       |-- observation.images.cam_front_head_rgb
+
+  |       |-- observation.images.cam_left_wrist_rgb
+
+  |       `-- observation.images.cam_right_wrist_rgb
+
+  |-- info.yaml
+
+  `-- README.md'
 splits:
   train: 0:499
 features:
@@ -443,5 +503,4 @@ additional_citations: 'If you use this dataset, please also consider citing:
 version_info: Initial Release
 data_path: data/chunk-{id}/episode_{id}.parquet
 video_path: videos/chunk-{id}/observation.images.cam_front_chest_rgb/episode_{id}.mp{id}
-sub_tasks: *id001
 video_url: videos/chunk-000/observation.images.cam_front_chest_rgb/episode_000000.mp4

dataset_info/AI2_Alphabot_2_stack_blocks.yaml

@@ -0,0 +1,492 @@
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
+dataset_name: AI2_Alphabot_2_stack_blocks
+dataset_uuid: 810a8bb1-91c0-4978-bd04-f17b08d732e4
+scene_type:
+  level1: Household
+  level2: Living Room
+  level3: null
+  level4: null
+  level5: null
+env_type: real_world
+objects:
+- object_name: square block
+  color: purple
+- object_name: square block
+  color: green
+task_operation_type: fixed_single_arm
+task_instruction: &id001
+- Pick the topmost block from the stack and place it on the table.
+sub_tasks: *id001
+atomic_actions:
+- grasp
+- place
+robot_name: AI2_Alphabot_2
+end_effector_type: two_finger_end_effector
+tele_type: vr_controller
+sensor_list:
+- cam_front_chest_rgb
+- cam_front_head_rgb
+- cam_left_wrist_rgb
+- cam_right_wrist_rgb
+came_info:
+  cam_front_chest_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=h264,
+    pix_fmt=yuv420p
+  cam_front_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=h264,
+    pix_fmt=yuv420p
+  cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=h264,
+    pix_fmt=yuv420p
+  cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=h264,
+    pix_fmt=yuv420p
+depth_enabled: false
+coordinate_definition: right-hand-frame
+joint_rotation_dim: radian
+end_rotation_dim: radian
+end_translation_dim: meter
+annotations:
+- eef_acc_mag_annotation.jsonl
+- eef_direction_annotation.jsonl
+- eef_velocity_annotation.jsonl
+- gripper_activity_annotation.jsonl
+- gripper_mode_annotation.jsonl
+statistics:
+  total_episodes: 211
+  total_frames: 122256
+  fps: 30
+  total_tasks: 1
+  total_videos: 844
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 34
+  action_dim: 34
+  camera_views: 4
+  dataset_size: 1.84 GB
+frame_num: 122256
+frame_range: 1M
+dataset_size: 1.84 GB
+data_structure: 'AI2_Alphabot_2_stack_blocks_0_qced_hardlink/
+
+  |-- annotations
+
+  |   |-- eef_acc_mag_annotation.jsonl
+
+  |   |-- eef_direction_annotation.jsonl
+
+  |   |-- eef_velocity_annotation.jsonl
+
+  |   |-- gripper_activity_annotation.jsonl
+
+  |   `-- gripper_mode_annotation.jsonl
+
+  |-- data
+
+  |   `-- chunk-000
+
+  |       |-- episode_000000.parquet
+
+  |       |-- episode_000001.parquet
+
+  |       |-- episode_000002.parquet
+
+  |       |-- episode_000003.parquet
+
+  |       |-- episode_000004.parquet
+
+  |       |-- episode_000005.parquet
+
+  |       |-- episode_000006.parquet
+
+  |       |-- episode_000007.parquet
+
+  |       |-- episode_000008.parquet
+
+  |       |-- episode_000009.parquet
+
+  |       |-- episode_000010.parquet
+
+  |       `-- episode_000011.parquet
+
+  |       `-- ... (199 more entries)
+
+  |-- meta
+
+  |   |-- episodes.jsonl
+
+  |   |-- episodes_stats.jsonl
+
+  |   |-- info.json
+
+  |   `-- tasks.jsonl
+
+  |-- videos
+
+  |   `-- chunk-000
+
+  |       |-- observation.images.cam_front_chest_rgb
+
+  |       |-- observation.images.cam_front_head_rgb
+
+  |       |-- observation.images.cam_left_wrist_rgb
+
+  |       `-- observation.images.cam_right_wrist_rgb
+
+  |-- info.yaml
+
+  `-- README.md'
+splits:
+  train: 0:210
+features:
+  observation.images.cam_front_chest_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: h264
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_front_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: h264
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: h264
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: h264
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 34
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - left_arm_joint_7_rad
+    - left_eef_pos_x_m
+    - left_eef_pos_y_m
+    - left_eef_pos_z_m
+    - left_eef_rot_euler_x_rad
+    - left_eef_rot_euler_y_rad
+    - left_eef_rot_euler_z_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - right_arm_joint_7_rad
+    - right_eef_pos_x_m
+    - right_eef_pos_y_m
+    - right_eef_pos_z_m
+    - right_eef_rot_euler_x_rad
+    - right_eef_rot_euler_y_rad
+    - right_eef_rot_euler_z_rad
+    - left_gripper_open
+    - right_gripper_open
+    - neck_joint_1_rad
+    - neck_joint_2_rad
+    - torso_joint_1_rad
+    - torso_joint_2_rad
+    - torso_joint_3_rad
+    - torso_joint_4_rad
+  action:
+    dtype: float32
+    shape:
+    - 34
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - left_arm_joint_7_rad
+    - left_eef_pos_x_m
+    - left_eef_pos_y_m
+    - left_eef_pos_z_m
+    - left_eef_rot_euler_x_rad
+    - left_eef_rot_euler_y_rad
+    - left_eef_rot_euler_z_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - right_arm_joint_7_rad
+    - right_eef_pos_x_m
+    - right_eef_pos_y_m
+    - right_eef_pos_z_m
+    - right_eef_rot_euler_x_rad
+    - right_eef_rot_euler_y_rad
+    - right_eef_rot_euler_z_rad
+    - left_gripper_open
+    - right_gripper_open
+    - neck_joint_1_rad
+    - neck_joint_2_rad
+    - torso_joint_1_rad
+    - torso_joint_2_rad
+    - torso_joint_3_rad
+    - torso_joint_4_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  gripper_open_scale_state:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    dtype: float64
+    shape:
+    - 2
+  gripper_open_scale_action:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    dtype: float64
+    shape:
+    - 2
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    dtype: float32
+    shape:
+    - 12
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    dtype: float32
+    shape:
+    - 12
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    dtype: int32
+    shape:
+    - 2
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    dtype: int32
+    shape:
+    - 2
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    dtype: int32
+    shape:
+    - 2
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    dtype: int32
+    shape:
+    - 2
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    dtype: int32
+    shape:
+    - 2
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    dtype: int32
+    shape:
+    - 2
+  gripper_mode_state:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    dtype: int32
+    shape:
+    - 2
+  gripper_mode_action:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    dtype: int32
+    shape:
+    - 2
+  gripper_activity_state:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    dtype: int32
+    shape:
+    - 2
+  gripper_activity_action:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    dtype: int32
+    shape:
+    - 2
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_front_chest_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_front_chest_rgb/episode_000000.mp4

dataset_info/AI2_Alphabot_2_stack_cups.yaml

@@ -39,6 +39,7 @@ objects:
 task_operation_type: fixed_single_arm
 task_instruction: &id001
 - Stack the three plastic cups sequentially using one hand.
+sub_tasks: *id001
 atomic_actions:
 - pick
 - place
@@ -67,6 +68,7 @@ joint_rotation_dim: radian
 end_rotation_dim: radian
 end_translation_dim: meter
 annotations:
+- camera_params.json
 - eef_acc_mag_annotation.jsonl
 - eef_direction_annotation.jsonl
 - eef_velocity_annotation.jsonl
@@ -87,19 +89,77 @@ statistics:
 frame_num: 324466
 frame_range: 1M
 dataset_size: 9.35 GB
-data_structure: "AI2_Alphabot_2_stack_cups_0_qced_hardlink/\n|-- annotations\n|  \
-  \ |-- eef_acc_mag_annotation.jsonl\n|   |-- eef_direction_annotation.jsonl\n|  \
-  \ |-- eef_velocity_annotation.jsonl\n|   |-- gripper_activity_annotation.jsonl\n\
-  |   `-- gripper_mode_annotation.jsonl\n|-- data\n|   `-- chunk-000\n|       |--\
-  \ episode_000000.parquet\n|       |-- episode_000001.parquet\n|       |-- episode_000002.parquet\n\
-  |       |-- episode_000003.parquet\n|       |-- episode_000004.parquet\n|      \
-  \ |-- episode_000005.parquet\n|       |-- episode_000006.parquet\n|       |-- episode_000007.parquet\n\
-  |       |-- episode_000008.parquet\n|       |-- episode_000009.parquet\n|      \
-  \ |-- episode_000010.parquet\n|       `-- episode_000011.parquet\n|       `-- ...\
-  \ (391 more entries)\n|-- meta\n|   |-- episodes.jsonl\n|   |-- episodes_stats.jsonl\n\
-  |   |-- info.json\n|   `-- tasks.jsonl\n`-- videos\n    `-- chunk-000\n        |--\
-  \ observation.images.cam_front_chest_rgb\n        |-- observation.images.cam_front_head_rgb\n\
-  \        |-- observation.images.cam_left_wrist_rgb\n        `-- observation.images.cam_right_wrist_rgb"
+data_structure: 'AI2_Alphabot_2_stack_cups_0_qced_hardlink/
+
+  |-- annotations
+
+  |   |-- camera_params.json
+
+  |   |-- eef_acc_mag_annotation.jsonl
+
+  |   |-- eef_direction_annotation.jsonl
+
+  |   |-- eef_velocity_annotation.jsonl
+
+  |   |-- gripper_activity_annotation.jsonl
+
+  |   `-- gripper_mode_annotation.jsonl
+
+  |-- data
+
+  |   `-- chunk-000
+
+  |       |-- episode_000000.parquet
+
+  |       |-- episode_000001.parquet
+
+  |       |-- episode_000002.parquet
+
+  |       |-- episode_000003.parquet
+
+  |       |-- episode_000004.parquet
+
+  |       |-- episode_000005.parquet
+
+  |       |-- episode_000006.parquet
+
+  |       |-- episode_000007.parquet
+
+  |       |-- episode_000008.parquet
+
+  |       |-- episode_000009.parquet
+
+  |       |-- episode_000010.parquet
+
+  |       `-- episode_000011.parquet
+
+  |       `-- ... (391 more entries)
+
+  |-- meta
+
+  |   |-- episodes.jsonl
+
+  |   |-- episodes_stats.jsonl
+
+  |   |-- info.json
+
+  |   `-- tasks.jsonl
+
+  |-- videos
+
+  |   `-- chunk-000
+
+  |       |-- observation.images.cam_front_chest_rgb
+
+  |       |-- observation.images.cam_front_head_rgb
+
+  |       |-- observation.images.cam_left_wrist_rgb
+
+  |       `-- observation.images.cam_right_wrist_rgb
+
+  |-- info.yaml
+
+  `-- README.md'
 splits:
   train: 0:402
 features:
@@ -436,5 +496,4 @@ additional_citations: 'If you use this dataset, please also consider citing:
 version_info: Initial Release
 data_path: data/chunk-{id}/episode_{id}.parquet
 video_path: videos/chunk-{id}/observation.images.cam_front_chest_rgb/episode_{id}.mp{id}
-sub_tasks: *id001
 video_url: videos/chunk-000/observation.images.cam_front_chest_rgb/episode_000000.mp4

dataset_info/AI2_Alphabot_2_stamp_document.yaml

@@ -37,6 +37,7 @@ objects:
 task_operation_type: fixed_single_arm
 task_instruction: &id001
 - Use the right hand to pick up the stamp and affix it onto the A4 paper.
+sub_tasks: *id001
 atomic_actions:
 - pick
 - press
@@ -64,6 +65,7 @@ joint_rotation_dim: radian
 end_rotation_dim: radian
 end_translation_dim: meter
 annotations:
+- camera_params.json
 - eef_acc_mag_annotation.jsonl
 - eef_direction_annotation.jsonl
 - eef_velocity_annotation.jsonl
@@ -84,19 +86,77 @@ statistics:
 frame_num: 369702
 frame_range: 1M
 dataset_size: 7.18 GB
-data_structure: "AI2_Alphabot_2_stamp_document_0_qced_hardlink/\n|-- annotations\n\
-  |   |-- eef_acc_mag_annotation.jsonl\n|   |-- eef_direction_annotation.jsonl\n|\
-  \   |-- eef_velocity_annotation.jsonl\n|   |-- gripper_activity_annotation.jsonl\n\
-  |   `-- gripper_mode_annotation.jsonl\n|-- data\n|   `-- chunk-000\n|       |--\
-  \ episode_000000.parquet\n|       |-- episode_000001.parquet\n|       |-- episode_000002.parquet\n\
-  |       |-- episode_000003.parquet\n|       |-- episode_000004.parquet\n|      \
-  \ |-- episode_000005.parquet\n|       |-- episode_000006.parquet\n|       |-- episode_000007.parquet\n\
-  |       |-- episode_000008.parquet\n|       |-- episode_000009.parquet\n|      \
-  \ |-- episode_000010.parquet\n|       `-- episode_000011.parquet\n|       `-- ...\
-  \ (975 more entries)\n|-- meta\n|   |-- episodes.jsonl\n|   |-- episodes_stats.jsonl\n\
-  |   |-- info.json\n|   `-- tasks.jsonl\n`-- videos\n    `-- chunk-000\n        |--\
-  \ observation.images.cam_front_chest_rgb\n        |-- observation.images.cam_front_head_rgb\n\
-  \        |-- observation.images.cam_left_wrist_rgb\n        `-- observation.images.cam_right_wrist_rgb"
+data_structure: 'AI2_Alphabot_2_stamp_document_0_qced_hardlink/
+
+  |-- annotations
+
+  |   |-- camera_params.json
+
+  |   |-- eef_acc_mag_annotation.jsonl
+
+  |   |-- eef_direction_annotation.jsonl
+
+  |   |-- eef_velocity_annotation.jsonl
+
+  |   |-- gripper_activity_annotation.jsonl
+
+  |   `-- gripper_mode_annotation.jsonl
+
+  |-- data
+
+  |   `-- chunk-000
+
+  |       |-- episode_000000.parquet
+
+  |       |-- episode_000001.parquet
+
+  |       |-- episode_000002.parquet
+
+  |       |-- episode_000003.parquet
+
+  |       |-- episode_000004.parquet
+
+  |       |-- episode_000005.parquet
+
+  |       |-- episode_000006.parquet
+
+  |       |-- episode_000007.parquet
+
+  |       |-- episode_000008.parquet
+
+  |       |-- episode_000009.parquet
+
+  |       |-- episode_000010.parquet
+
+  |       `-- episode_000011.parquet
+
+  |       `-- ... (975 more entries)
+
+  |-- meta
+
+  |   |-- episodes.jsonl
+
+  |   |-- episodes_stats.jsonl
+
+  |   |-- info.json
+
+  |   `-- tasks.jsonl
+
+  |-- videos
+
+  |   `-- chunk-000
+
+  |       |-- observation.images.cam_front_chest_rgb
+
+  |       |-- observation.images.cam_front_head_rgb
+
+  |       |-- observation.images.cam_left_wrist_rgb
+
+  |       `-- observation.images.cam_right_wrist_rgb
+
+  |-- info.yaml
+
+  `-- README.md'
 splits:
   train: 0:986
 features:
@@ -433,5 +493,4 @@ additional_citations: 'If you use this dataset, please also consider citing:
 version_info: Initial Release
 data_path: data/chunk-{id}/episode_{id}.parquet
 video_path: videos/chunk-{id}/observation.images.cam_front_chest_rgb/episode_{id}.mp{id}
-sub_tasks: *id001
 video_url: videos/chunk-000/observation.images.cam_front_chest_rgb/episode_000000.mp4

dataset_info/AI2_Alphabot_2_stir_spoon.yaml

@@ -38,6 +38,7 @@ task_operation_type: fixed_single_arm
 task_instruction: &id001
 - Pick up the stirring spoon with one hand, stir inside the cup, then place it back
   in its original position.
+sub_tasks: *id001
 atomic_actions:
 - pick
 - stir
@@ -67,6 +68,7 @@ joint_rotation_dim: radian
 end_rotation_dim: radian
 end_translation_dim: meter
 annotations:
+- camera_params.json
 - eef_acc_mag_annotation.jsonl
 - eef_direction_annotation.jsonl
 - eef_velocity_annotation.jsonl
@@ -83,23 +85,81 @@ statistics:
   state_dim: 34
   action_dim: 34
   camera_views: 4
-  dataset_size: 14.30 GB
+  dataset_size: 14.25 GB
 frame_num: 334844
 frame_range: 1M
-dataset_size: 14.30 GB
-data_structure: "AI2_Alphabot_2_stir_spoon_0_qced_hardlink/\n|-- annotations\n|  \
-  \ |-- eef_acc_mag_annotation.jsonl\n|   |-- eef_direction_annotation.jsonl\n|  \
-  \ |-- eef_velocity_annotation.jsonl\n|   |-- gripper_activity_annotation.jsonl\n\
-  |   `-- gripper_mode_annotation.jsonl\n|-- data\n|   `-- chunk-000\n|       |--\
-  \ episode_000000.parquet\n|       |-- episode_000001.parquet\n|       |-- episode_000002.parquet\n\
-  |       |-- episode_000003.parquet\n|       |-- episode_000004.parquet\n|      \
-  \ |-- episode_000005.parquet\n|       |-- episode_000006.parquet\n|       |-- episode_000007.parquet\n\
-  |       |-- episode_000008.parquet\n|       |-- episode_000009.parquet\n|      \
-  \ |-- episode_000010.parquet\n|       `-- episode_000011.parquet\n|       `-- ...\
-  \ (393 more entries)\n|-- meta\n|   |-- episodes.jsonl\n|   |-- episodes_stats.jsonl\n\
-  |   |-- info.json\n|   `-- tasks.jsonl\n`-- videos\n    `-- chunk-000\n        |--\
-  \ observation.images.cam_front_chest_rgb\n        |-- observation.images.cam_front_head_rgb\n\
-  \        |-- observation.images.cam_left_wrist_rgb\n        `-- observation.images.cam_right_wrist_rgb"
+dataset_size: 14.25 GB
+data_structure: 'AI2_Alphabot_2_stir_spoon_0_qced_hardlink/
+
+  |-- annotations
+
+  |   |-- camera_params.json
+
+  |   |-- eef_acc_mag_annotation.jsonl
+
+  |   |-- eef_direction_annotation.jsonl
+
+  |   |-- eef_velocity_annotation.jsonl
+
+  |   |-- gripper_activity_annotation.jsonl
+
+  |   `-- gripper_mode_annotation.jsonl
+
+  |-- data
+
+  |   `-- chunk-000
+
+  |       |-- episode_000000.parquet
+
+  |       |-- episode_000001.parquet
+
+  |       |-- episode_000002.parquet
+
+  |       |-- episode_000003.parquet
+
+  |       |-- episode_000004.parquet
+
+  |       |-- episode_000005.parquet
+
+  |       |-- episode_000006.parquet
+
+  |       |-- episode_000007.parquet
+
+  |       |-- episode_000008.parquet
+
+  |       |-- episode_000009.parquet
+
+  |       |-- episode_000010.parquet
+
+  |       `-- episode_000011.parquet
+
+  |       `-- ... (393 more entries)
+
+  |-- meta
+
+  |   |-- episodes.jsonl
+
+  |   |-- episodes_stats.jsonl
+
+  |   |-- info.json
+
+  |   `-- tasks.jsonl
+
+  |-- videos
+
+  |   `-- chunk-000
+
+  |       |-- observation.images.cam_front_chest_rgb
+
+  |       |-- observation.images.cam_front_head_rgb
+
+  |       |-- observation.images.cam_left_wrist_rgb
+
+  |       `-- observation.images.cam_right_wrist_rgb
+
+  |-- info.yaml
+
+  `-- README.md'
 splits:
   train: 0:404
 features:
@@ -286,119 +346,15 @@ features:
     names:
     - left_gripper_open_scale
     - right_gripper_open_scale
-    dtype: float64
+    dtype: float32
     shape:
     - 2
   gripper_open_scale_action:
     names:
     - left_gripper_open_scale
     - right_gripper_open_scale
-    dtype: float64
-    shape:
-    - 2
-  eef_sim_pose_state:
-    names:
-    - left_eef_pos_x
-    - left_eef_pos_y
-    - left_eef_pos_z
-    - left_eef_rot_x
-    - left_eef_rot_y
-    - left_eef_rot_z
-    - right_eef_pos_x
-    - right_eef_pos_y
-    - right_eef_pos_z
-    - right_eef_rot_x
-    - right_eef_rot_y
-    - right_eef_rot_z
     dtype: float32
     shape:
-    - 12
-  eef_sim_pose_action:
-    names:
-    - left_eef_pos_x
-    - left_eef_pos_y
-    - left_eef_pos_z
-    - left_eef_rot_x
-    - left_eef_rot_y
-    - left_eef_rot_z
-    - right_eef_pos_x
-    - right_eef_pos_y
-    - right_eef_pos_z
-    - right_eef_rot_x
-    - right_eef_rot_y
-    - right_eef_rot_z
-    dtype: float32
-    shape:
-    - 12
-  eef_direction_state:
-    names:
-    - left_eef_direction
-    - right_eef_direction
-    dtype: int32
-    shape:
-    - 2
-  eef_direction_action:
-    names:
-    - left_eef_direction
-    - right_eef_direction
-    dtype: int32
-    shape:
-    - 2
-  eef_velocity_state:
-    names:
-    - left_eef_velocity
-    - right_eef_velocity
-    dtype: int32
-    shape:
-    - 2
-  eef_velocity_action:
-    names:
-    - left_eef_velocity
-    - right_eef_velocity
-    dtype: int32
-    shape:
-    - 2
-  eef_acc_mag_state:
-    names:
-    - left_eef_acc_mag
-    - right_eef_acc_mag
-    dtype: int32
-    shape:
-    - 2
-  eef_acc_mag_action:
-    names:
-    - left_eef_acc_mag
-    - right_eef_acc_mag
-    dtype: int32
-    shape:
-    - 2
-  gripper_mode_state:
-    names:
-    - left_gripper_mode
-    - right_gripper_mode
-    dtype: int32
-    shape:
-    - 2
-  gripper_mode_action:
-    names:
-    - left_gripper_mode
-    - right_gripper_mode
-    dtype: int32
-    shape:
-    - 2
-  gripper_activity_state:
-    names:
-    - left_gripper_activity
-    - right_gripper_activity
-    dtype: int32
-    shape:
-    - 2
-  gripper_activity_action:
-    names:
-    - left_gripper_activity
-    - right_gripper_activity
-    dtype: int32
-    shape:
     - 2
 authors:
   contributed_by:
@@ -436,5 +392,4 @@ additional_citations: 'If you use this dataset, please also consider citing:
 version_info: Initial Release
 data_path: data/chunk-{id}/episode_{id}.parquet
 video_path: videos/chunk-{id}/observation.images.cam_front_chest_rgb/episode_{id}.mp{id}
-sub_tasks: *id001
 video_url: videos/chunk-000/observation.images.cam_front_chest_rgb/episode_000000.mp4

dataset_info/AI2_Alphabot_2_stir_water.yaml

@@ -30,22 +30,35 @@ scene_type:
   level5: null
 env_type: real_world
 objects:
-- object_name: stirring spoon
+- id: stirring_spoon
+  name: stirring spoon
   color: white
-- object_name: plastic bowl
+  anchor_policy: static
+- id: plastic_bowl
+  name: plastic bowl
   color: pink
-- object_name: glass cup
+  anchor_policy: static
+- id: glass_cup
+  name: glass cup
   color: black
+  anchor_policy: static
+- id: table
+  name: table
+  color: black
+  anchor_policy: static
 task_operation_type: fixed_single_arm
-task_instruction: &id001
+task_instruction: Use the right hand to pick up the spoon and stir the clear water
+  in the bowl.
+sub_tasks:
 - Use the right hand to pick up the spoon and stir the clear water in the bowl.
 atomic_actions:
-- pick
-- move
-- stir
+- grasp
 - place
-robot_name: AI2_Alphabot_2
-end_effector_type: two_finger_end_effector
+- stir
+robot_name:
+- AI2_Alphabot_2
+end_effector_type:
+- two_finger_end_effector
 tele_type: vr_controller
 sensor_list:
 - cam_front_chest_rgb
@@ -67,6 +80,7 @@ joint_rotation_dim: radian
 end_rotation_dim: radian
 end_translation_dim: meter
 annotations:
+- camera_params.json
 - eef_acc_mag_annotation.jsonl
 - eef_direction_annotation.jsonl
 - eef_velocity_annotation.jsonl
@@ -87,19 +101,77 @@ statistics:
 frame_num: 284361
 frame_range: 1M
 dataset_size: 12.14 GB
-data_structure: "AI2_Alphabot_2_stir_water_0_qced_hardlink/\n|-- annotations\n|  \
-  \ |-- eef_acc_mag_annotation.jsonl\n|   |-- eef_direction_annotation.jsonl\n|  \
-  \ |-- eef_velocity_annotation.jsonl\n|   |-- gripper_activity_annotation.jsonl\n\
-  |   `-- gripper_mode_annotation.jsonl\n|-- data\n|   `-- chunk-000\n|       |--\
-  \ episode_000000.parquet\n|       |-- episode_000001.parquet\n|       |-- episode_000002.parquet\n\
-  |       |-- episode_000003.parquet\n|       |-- episode_000004.parquet\n|      \
-  \ |-- episode_000005.parquet\n|       |-- episode_000006.parquet\n|       |-- episode_000007.parquet\n\
-  |       |-- episode_000008.parquet\n|       |-- episode_000009.parquet\n|      \
-  \ |-- episode_000010.parquet\n|       `-- episode_000011.parquet\n|       `-- ...\
-  \ (310 more entries)\n|-- meta\n|   |-- episodes.jsonl\n|   |-- episodes_stats.jsonl\n\
-  |   |-- info.json\n|   `-- tasks.jsonl\n`-- videos\n    `-- chunk-000\n        |--\
-  \ observation.images.cam_front_chest_rgb\n        |-- observation.images.cam_front_head_rgb\n\
-  \        |-- observation.images.cam_left_wrist_rgb\n        `-- observation.images.cam_right_wrist_rgb"
+data_structure: 'AI2_Alphabot_2_stir_water_0_qced_hardlink/
+
+  |-- annotations
+
+  |   |-- camera_params.json
+
+  |   |-- eef_acc_mag_annotation.jsonl
+
+  |   |-- eef_direction_annotation.jsonl
+
+  |   |-- eef_velocity_annotation.jsonl
+
+  |   |-- gripper_activity_annotation.jsonl
+
+  |   `-- gripper_mode_annotation.jsonl
+
+  |-- data
+
+  |   `-- chunk-000
+
+  |       |-- episode_000000.parquet
+
+  |       |-- episode_000001.parquet
+
+  |       |-- episode_000002.parquet
+
+  |       |-- episode_000003.parquet
+
+  |       |-- episode_000004.parquet
+
+  |       |-- episode_000005.parquet
+
+  |       |-- episode_000006.parquet
+
+  |       |-- episode_000007.parquet
+
+  |       |-- episode_000008.parquet
+
+  |       |-- episode_000009.parquet
+
+  |       |-- episode_000010.parquet
+
+  |       `-- episode_000011.parquet
+
+  |       `-- ... (310 more entries)
+
+  |-- meta
+
+  |   |-- episodes.jsonl
+
+  |   |-- episodes_stats.jsonl
+
+  |   |-- info.json
+
+  |   `-- tasks.jsonl
+
+  |-- videos
+
+  |   `-- chunk-000
+
+  |       |-- observation.images.cam_front_chest_rgb
+
+  |       |-- observation.images.cam_front_head_rgb
+
+  |       |-- observation.images.cam_left_wrist_rgb
+
+  |       `-- observation.images.cam_right_wrist_rgb
+
+  |-- info.yaml
+
+  `-- README.md'
 splits:
   train: 0:321
 features:
@@ -436,5 +508,4 @@ additional_citations: 'If you use this dataset, please also consider citing:
 version_info: Initial Release
 data_path: data/chunk-{id}/episode_{id}.parquet
 video_path: videos/chunk-{id}/observation.images.cam_front_chest_rgb/episode_{id}.mp{id}
-sub_tasks: *id001
 video_url: videos/chunk-000/observation.images.cam_front_chest_rgb/episode_000000.mp4

dataset_info/AI2_Alphabot_2_store_toys.yaml

@@ -21,27 +21,30 @@ extra_gated_fields:
     description: e.g., "Germany", "China", "United States"
 codebase_version: v2.1
 dataset_name: AI2_Alphabot_2_store_toys
-dataset_uuid: 0ab3a510-b0dd-48fe-8672-a603fa569055
+dataset_uuid: 4730bad7-ce44-4ee7-862e-3b3c100d50a8
 scene_type:
-  level1: Household
-  level2: Living Room
+  level1: Retail
+  level2: Supermarket
   level3: null
   level4: null
   level5: null
 env_type: real_world
 objects:
+- object_name: animal doll
+  color: brown
 - object_name: open top box
   color: blue
-- object_name: figure
+- object_name: animal doll
   color: blue
-- object_name: figure
-  color: black
-task_operation_type: fixed_single_arm
+- object_name: animal doll
+  color: pink
+task_operation_type: fixed_dual_arm
 task_instruction: &id001
-- Pick up the two dolls from the table and place them into the box.
+- Place the animal plush toys into the open top box.
 sub_tasks: *id001
 atomic_actions:
-- grasp
+- pick
+- move
 - place
 robot_name: AI2_Alphabot_2
 end_effector_type: two_finger_end_effector
@@ -52,13 +55,13 @@ sensor_list:
 - cam_left_wrist_rgb
 - cam_right_wrist_rgb
 came_info:
-  cam_front_chest_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=h264,
+  cam_front_chest_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
     pix_fmt=yuv420p
-  cam_front_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=h264,
+  cam_front_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
     pix_fmt=yuv420p
-  cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=h264,
+  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=h264,
+  cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
     pix_fmt=yuv420p
 depth_enabled: false
 coordinate_definition: right-hand-frame
@@ -73,21 +76,21 @@ annotations:
 - gripper_activity_annotation.jsonl
 - gripper_mode_annotation.jsonl
 statistics:
-  total_episodes: 499
-  total_frames: 152601
+  total_episodes: 968
+  total_frames: 541645
   fps: 30
   total_tasks: 1
-  total_videos: 1996
+  total_videos: 3872
   total_chunks: 1
   chunks_size: 1000
   state_dim: 34
   action_dim: 34
   camera_views: 4
-  dataset_size: 1.87 GB
-frame_num: 152601
+  dataset_size: 10.85 GB
+frame_num: 541645
 frame_range: 1M
-dataset_size: 1.87 GB
-data_structure: 'AI2_Alphabot_2_store_toys_2_qced_hardlink/
+dataset_size: 10.85 GB
+data_structure: 'AI2_Alphabot_2_store_toys_0_qced_hardlink/
 
   |-- annotations
 
@@ -131,7 +134,7 @@ data_structure: 'AI2_Alphabot_2_store_toys_2_qced_hardlink/
 
   |       `-- episode_000011.parquet
 
-  |       `-- ... (487 more entries)
+  |       `-- ... (956 more entries)
 
   |-- meta
 
@@ -155,9 +158,11 @@ data_structure: 'AI2_Alphabot_2_store_toys_2_qced_hardlink/
 
   |       `-- observation.images.cam_right_wrist_rgb
 
-  `-- info.yaml'
+  |-- info.yaml
+
+  `-- README.md'
 splits:
-  train: 0:498
+  train: 0:967
 features:
   observation.images.cam_front_chest_rgb:
     dtype: video
@@ -172,7 +177,7 @@ features:
     info:
       video.height: 480
       video.width: 640
-      video.codec: h264
+      video.codec: av1
       video.pix_fmt: yuv420p
       video.is_depth_map: false
       video.fps: 30
@@ -191,7 +196,7 @@ features:
     info:
       video.height: 480
       video.width: 640
-      video.codec: h264
+      video.codec: av1
       video.pix_fmt: yuv420p
       video.is_depth_map: false
       video.fps: 30
@@ -210,7 +215,7 @@ features:
     info:
       video.height: 480
       video.width: 640
-      video.codec: h264
+      video.codec: av1
       video.pix_fmt: yuv420p
       video.is_depth_map: false
       video.fps: 30
@@ -229,7 +234,7 @@ features:
     info:
       video.height: 480
       video.width: 640
-      video.codec: h264
+      video.codec: av1
       video.pix_fmt: yuv420p
       video.is_depth_map: false
       video.fps: 30
@@ -491,5 +496,5 @@ additional_citations: 'If you use this dataset, please also consider citing:
   '
 version_info: Initial Release
 data_path: data/chunk-{id}/episode_{id}.parquet
-video_path: videos/chunk-{id}/observation.images.cam_front_chest_rgb/episode_{id}.mp{id}
+video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}
 video_url: videos/chunk-000/observation.images.cam_front_chest_rgb/episode_000000.mp4

dataset_info/AI2_Alphabot_2_store_toys_1.yaml

@@ -0,0 +1,516 @@
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
+dataset_name: AI2_Alphabot_2_store_toys_1
+dataset_uuid: d68b37cf-e7af-4d7a-8e6a-4e61d06dd33e
+scene_type:
+  level1: Household
+  level2: Living Room
+  level3: null
+  level4: null
+  level5: null
+env_type: real_world
+objects:
+- object_name: doll
+  color: yellow
+- object_name: doll
+  color: black
+- object_name: doll
+  color: yellow
+task_operation_type: fixed_dual_arm
+task_instruction: &id001
+- Pick up the toy alternately with the left and right hands and place it into the
+  central storage box.
+sub_tasks: *id001
+atomic_actions:
+- move
+- pick
+- release
+- place
+robot_name: AI2_Alphabot_2
+end_effector_type: two_finger_end_effector
+tele_type: vr_controller
+sensor_list:
+- cam_front_chest_rgb
+- cam_front_head_rgb
+- cam_left_wrist_rgb
+- cam_right_wrist_rgb
+came_info:
+  cam_front_chest_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_front_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+depth_enabled: false
+coordinate_definition: right-hand-frame
+joint_rotation_dim: radian
+end_rotation_dim: radian
+end_translation_dim: meter
+annotations:
+- camera_params.json
+- eef_acc_mag_annotation.jsonl
+- eef_direction_annotation.jsonl
+- eef_velocity_annotation.jsonl
+- gripper_activity_annotation.jsonl
+- gripper_mode_annotation.jsonl
+statistics:
+  total_episodes: 113
+  total_frames: 71384
+  fps: 30
+  total_tasks: 1
+  total_videos: 452
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 34
+  action_dim: 34
+  camera_views: 4
+  dataset_size: 1.47 GB
+frame_num: 71384
+frame_range: 100K
+dataset_size: 1.47 GB
+data_structure: 'AI2_Alphabot_2_store_toys_1_qced_hardlink/
+
+  |-- annotations
+
+  |   |-- camera_params.json
+
+  |   |-- eef_acc_mag_annotation.jsonl
+
+  |   |-- eef_direction_annotation.jsonl
+
+  |   |-- eef_velocity_annotation.jsonl
+
+  |   |-- gripper_activity_annotation.jsonl
+
+  |   `-- gripper_mode_annotation.jsonl
+
+  |-- data
+
+  |   `-- chunk-000
+
+  |       |-- episode_000000.parquet
+
+  |       |-- episode_000001.parquet
+
+  |       |-- episode_000002.parquet
+
+  |       |-- episode_000003.parquet
+
+  |       |-- episode_000004.parquet
+
+  |       |-- episode_000005.parquet
+
+  |       |-- episode_000006.parquet
+
+  |       |-- episode_000007.parquet
+
+  |       |-- episode_000008.parquet
+
+  |       |-- episode_000009.parquet
+
+  |       |-- episode_000010.parquet
+
+  |       `-- episode_000011.parquet
+
+  |       `-- ... (101 more entries)
+
+  |-- logs
+
+  |   `-- collect
+
+  |       |-- collect_20260601115839.log
+
+  |       |-- collect_20260601120328.log
+
+  |       |-- collect_20260601120549.log
+
+  |       |-- collect_20260601130102.log
+
+  |       |-- collect_20260601130243.log
+
+  |       `-- collect_20260601131051.log
+
+  |-- meta
+
+  |   |-- episodes.jsonl
+
+  |   |-- episodes_stats.jsonl
+
+  |   |-- info.json
+
+  |   `-- tasks.jsonl
+
+  |-- videos
+
+  |   `-- chunk-000
+
+  |       |-- observation.images.cam_front_chest_rgb
+
+  |       |-- observation.images.cam_front_head_rgb
+
+  |       |-- observation.images.cam_left_wrist_rgb
+
+  |       `-- observation.images.cam_right_wrist_rgb
+
+  |-- info.yaml
+
+  `-- README.md'
+splits:
+  train: 0:112
+features:
+  observation.images.cam_front_chest_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_front_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 34
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - left_arm_joint_7_rad
+    - left_eef_pos_x_m
+    - left_eef_pos_y_m
+    - left_eef_pos_z_m
+    - left_eef_rot_euler_x_rad
+    - left_eef_rot_euler_y_rad
+    - left_eef_rot_euler_z_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - right_arm_joint_7_rad
+    - right_eef_pos_x_m
+    - right_eef_pos_y_m
+    - right_eef_pos_z_m
+    - right_eef_rot_euler_x_rad
+    - right_eef_rot_euler_y_rad
+    - right_eef_rot_euler_z_rad
+    - left_gripper_open
+    - right_gripper_open
+    - neck_joint_1_rad
+    - neck_joint_2_rad
+    - torso_joint_1_rad
+    - torso_joint_2_rad
+    - torso_joint_3_rad
+    - torso_joint_4_rad
+  action:
+    dtype: float32
+    shape:
+    - 34
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - left_arm_joint_7_rad
+    - left_eef_pos_x_m
+    - left_eef_pos_y_m
+    - left_eef_pos_z_m
+    - left_eef_rot_euler_x_rad
+    - left_eef_rot_euler_y_rad
+    - left_eef_rot_euler_z_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - right_arm_joint_7_rad
+    - right_eef_pos_x_m
+    - right_eef_pos_y_m
+    - right_eef_pos_z_m
+    - right_eef_rot_euler_x_rad
+    - right_eef_rot_euler_y_rad
+    - right_eef_rot_euler_z_rad
+    - left_gripper_open
+    - right_gripper_open
+    - neck_joint_1_rad
+    - neck_joint_2_rad
+    - torso_joint_1_rad
+    - torso_joint_2_rad
+    - torso_joint_3_rad
+    - torso_joint_4_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  gripper_open_scale_state:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    dtype: float64
+    shape:
+    - 2
+  gripper_open_scale_action:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    dtype: float64
+    shape:
+    - 2
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    dtype: float32
+    shape:
+    - 12
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    dtype: float32
+    shape:
+    - 12
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    dtype: int32
+    shape:
+    - 2
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    dtype: int32
+    shape:
+    - 2
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    dtype: int32
+    shape:
+    - 2
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    dtype: int32
+    shape:
+    - 2
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    dtype: int32
+    shape:
+    - 2
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    dtype: int32
+    shape:
+    - 2
+  gripper_mode_state:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    dtype: int32
+    shape:
+    - 2
+  gripper_mode_action:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    dtype: int32
+    shape:
+    - 2
+  gripper_activity_state:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    dtype: int32
+    shape:
+    - 2
+  gripper_activity_action:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    dtype: int32
+    shape:
+    - 2
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_front_chest_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_front_chest_rgb/episode_000000.mp4

dataset_info/AI2_Alphabot_2_store_toys_2.yaml

@@ -0,0 +1,497 @@
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
+dataset_name: AI2_Alphabot_2_store_toys_2
+dataset_uuid: 0ab3a510-b0dd-48fe-8672-a603fa569055
+scene_type:
+  level1: Household
+  level2: Living Room
+  level3: null
+  level4: null
+  level5: null
+env_type: real_world
+objects:
+- object_name: open top box
+  color: blue
+- object_name: figure
+  color: blue
+- object_name: figure
+  color: black
+task_operation_type: fixed_single_arm
+task_instruction: &id001
+- Pick up the two dolls from the table and place them into the box.
+sub_tasks: *id001
+atomic_actions:
+- grasp
+- place
+robot_name: AI2_Alphabot_2
+end_effector_type: two_finger_end_effector
+tele_type: vr_controller
+sensor_list:
+- cam_front_chest_rgb
+- cam_front_head_rgb
+- cam_left_wrist_rgb
+- cam_right_wrist_rgb
+came_info:
+  cam_front_chest_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=h264,
+    pix_fmt=yuv420p
+  cam_front_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=h264,
+    pix_fmt=yuv420p
+  cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=h264,
+    pix_fmt=yuv420p
+  cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=h264,
+    pix_fmt=yuv420p
+depth_enabled: false
+coordinate_definition: right-hand-frame
+joint_rotation_dim: radian
+end_rotation_dim: radian
+end_translation_dim: meter
+annotations:
+- camera_params.json
+- eef_acc_mag_annotation.jsonl
+- eef_direction_annotation.jsonl
+- eef_velocity_annotation.jsonl
+- gripper_activity_annotation.jsonl
+- gripper_mode_annotation.jsonl
+statistics:
+  total_episodes: 499
+  total_frames: 152601
+  fps: 30
+  total_tasks: 1
+  total_videos: 1996
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 34
+  action_dim: 34
+  camera_views: 4
+  dataset_size: 1.87 GB
+frame_num: 152601
+frame_range: 1M
+dataset_size: 1.87 GB
+data_structure: 'AI2_Alphabot_2_store_toys_2_qced_hardlink/
+
+  |-- annotations
+
+  |   |-- camera_params.json
+
+  |   |-- eef_acc_mag_annotation.jsonl
+
+  |   |-- eef_direction_annotation.jsonl
+
+  |   |-- eef_velocity_annotation.jsonl
+
+  |   |-- gripper_activity_annotation.jsonl
+
+  |   `-- gripper_mode_annotation.jsonl
+
+  |-- data
+
+  |   `-- chunk-000
+
+  |       |-- episode_000000.parquet
+
+  |       |-- episode_000001.parquet
+
+  |       |-- episode_000002.parquet
+
+  |       |-- episode_000003.parquet
+
+  |       |-- episode_000004.parquet
+
+  |       |-- episode_000005.parquet
+
+  |       |-- episode_000006.parquet
+
+  |       |-- episode_000007.parquet
+
+  |       |-- episode_000008.parquet
+
+  |       |-- episode_000009.parquet
+
+  |       |-- episode_000010.parquet
+
+  |       `-- episode_000011.parquet
+
+  |       `-- ... (487 more entries)
+
+  |-- meta
+
+  |   |-- episodes.jsonl
+
+  |   |-- episodes_stats.jsonl
+
+  |   |-- info.json
+
+  |   `-- tasks.jsonl
+
+  |-- videos
+
+  |   `-- chunk-000
+
+  |       |-- observation.images.cam_front_chest_rgb
+
+  |       |-- observation.images.cam_front_head_rgb
+
+  |       |-- observation.images.cam_left_wrist_rgb
+
+  |       `-- observation.images.cam_right_wrist_rgb
+
+  |-- info.yaml
+
+  `-- README.md'
+splits:
+  train: 0:498
+features:
+  observation.images.cam_front_chest_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: h264
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_front_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: h264
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: h264
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: h264
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 34
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - left_arm_joint_7_rad
+    - left_eef_pos_x_m
+    - left_eef_pos_y_m
+    - left_eef_pos_z_m
+    - left_eef_rot_euler_x_rad
+    - left_eef_rot_euler_y_rad
+    - left_eef_rot_euler_z_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - right_arm_joint_7_rad
+    - right_eef_pos_x_m
+    - right_eef_pos_y_m
+    - right_eef_pos_z_m
+    - right_eef_rot_euler_x_rad
+    - right_eef_rot_euler_y_rad
+    - right_eef_rot_euler_z_rad
+    - left_gripper_open
+    - right_gripper_open
+    - neck_joint_1_rad
+    - neck_joint_2_rad
+    - torso_joint_1_rad
+    - torso_joint_2_rad
+    - torso_joint_3_rad
+    - torso_joint_4_rad
+  action:
+    dtype: float32
+    shape:
+    - 34
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - left_arm_joint_7_rad
+    - left_eef_pos_x_m
+    - left_eef_pos_y_m
+    - left_eef_pos_z_m
+    - left_eef_rot_euler_x_rad
+    - left_eef_rot_euler_y_rad
+    - left_eef_rot_euler_z_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - right_arm_joint_7_rad
+    - right_eef_pos_x_m
+    - right_eef_pos_y_m
+    - right_eef_pos_z_m
+    - right_eef_rot_euler_x_rad
+    - right_eef_rot_euler_y_rad
+    - right_eef_rot_euler_z_rad
+    - left_gripper_open
+    - right_gripper_open
+    - neck_joint_1_rad
+    - neck_joint_2_rad
+    - torso_joint_1_rad
+    - torso_joint_2_rad
+    - torso_joint_3_rad
+    - torso_joint_4_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  gripper_open_scale_state:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    dtype: float64
+    shape:
+    - 2
+  gripper_open_scale_action:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    dtype: float64
+    shape:
+    - 2
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    dtype: float32
+    shape:
+    - 12
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    dtype: float32
+    shape:
+    - 12
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    dtype: int32
+    shape:
+    - 2
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    dtype: int32
+    shape:
+    - 2
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    dtype: int32
+    shape:
+    - 2
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    dtype: int32
+    shape:
+    - 2
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    dtype: int32
+    shape:
+    - 2
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    dtype: int32
+    shape:
+    - 2
+  gripper_mode_state:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    dtype: int32
+    shape:
+    - 2
+  gripper_mode_action:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    dtype: int32
+    shape:
+    - 2
+  gripper_activity_state:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    dtype: int32
+    shape:
+    - 2
+  gripper_activity_action:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    dtype: int32
+    shape:
+    - 2
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_front_chest_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_front_chest_rgb/episode_000000.mp4

dataset_info/AI2_Alphabot_2_store_toys_3.yaml

@@ -0,0 +1,494 @@
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
+dataset_name: AI2_Alphabot_2_store_toys_3
+dataset_uuid: b1cff7f3-645f-46a1-9c8a-cd84c8ffaef2
+scene_type:
+  level1: Household
+  level2: Living Room
+  level3: null
+  level4: null
+  level5: null
+env_type: real_world
+objects:
+- object_name: open top box
+  color: blue
+- object_name: figure
+  color: blue
+- object_name: figure
+  color: black
+task_operation_type: fixed_single_arm
+task_instruction: &id001
+- Pick up the two dolls from the table and place them into the box.
+sub_tasks: *id001
+atomic_actions:
+- grasp
+- place
+robot_name: AI2_Alphabot_2
+end_effector_type: two_finger_end_effector
+tele_type: vr_controller
+sensor_list:
+- cam_front_chest_rgb
+- cam_front_head_rgb
+- cam_left_wrist_rgb
+- cam_right_wrist_rgb
+came_info:
+  cam_front_chest_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=h264,
+    pix_fmt=yuv420p
+  cam_front_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=h264,
+    pix_fmt=yuv420p
+  cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=h264,
+    pix_fmt=yuv420p
+  cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=h264,
+    pix_fmt=yuv420p
+depth_enabled: false
+coordinate_definition: right-hand-frame
+joint_rotation_dim: radian
+end_rotation_dim: radian
+end_translation_dim: meter
+annotations:
+- eef_acc_mag_annotation.jsonl
+- eef_direction_annotation.jsonl
+- eef_velocity_annotation.jsonl
+- gripper_activity_annotation.jsonl
+- gripper_mode_annotation.jsonl
+statistics:
+  total_episodes: 494
+  total_frames: 166579
+  fps: 30
+  total_tasks: 1
+  total_videos: 1976
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 34
+  action_dim: 34
+  camera_views: 4
+  dataset_size: 2.00 GB
+frame_num: 166579
+frame_range: 1M
+dataset_size: 2.00 GB
+data_structure: 'AI2_Alphabot_2_store_toys_3_qced_hardlink/
+
+  |-- annotations
+
+  |   |-- eef_acc_mag_annotation.jsonl
+
+  |   |-- eef_direction_annotation.jsonl
+
+  |   |-- eef_velocity_annotation.jsonl
+
+  |   |-- gripper_activity_annotation.jsonl
+
+  |   `-- gripper_mode_annotation.jsonl
+
+  |-- data
+
+  |   `-- chunk-000
+
+  |       |-- episode_000000.parquet
+
+  |       |-- episode_000001.parquet
+
+  |       |-- episode_000002.parquet
+
+  |       |-- episode_000003.parquet
+
+  |       |-- episode_000004.parquet
+
+  |       |-- episode_000005.parquet
+
+  |       |-- episode_000006.parquet
+
+  |       |-- episode_000007.parquet
+
+  |       |-- episode_000008.parquet
+
+  |       |-- episode_000009.parquet
+
+  |       |-- episode_000010.parquet
+
+  |       `-- episode_000011.parquet
+
+  |       `-- ... (482 more entries)
+
+  |-- meta
+
+  |   |-- episodes.jsonl
+
+  |   |-- episodes_stats.jsonl
+
+  |   |-- info.json
+
+  |   `-- tasks.jsonl
+
+  |-- videos
+
+  |   `-- chunk-000
+
+  |       |-- observation.images.cam_front_chest_rgb
+
+  |       |-- observation.images.cam_front_head_rgb
+
+  |       |-- observation.images.cam_left_wrist_rgb
+
+  |       `-- observation.images.cam_right_wrist_rgb
+
+  |-- info.yaml
+
+  `-- README.md'
+splits:
+  train: 0:493
+features:
+  observation.images.cam_front_chest_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: h264
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_front_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: h264
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: h264
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: h264
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 34
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - left_arm_joint_7_rad
+    - left_eef_pos_x_m
+    - left_eef_pos_y_m
+    - left_eef_pos_z_m
+    - left_eef_rot_euler_x_rad
+    - left_eef_rot_euler_y_rad
+    - left_eef_rot_euler_z_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - right_arm_joint_7_rad
+    - right_eef_pos_x_m
+    - right_eef_pos_y_m
+    - right_eef_pos_z_m
+    - right_eef_rot_euler_x_rad
+    - right_eef_rot_euler_y_rad
+    - right_eef_rot_euler_z_rad
+    - left_gripper_open
+    - right_gripper_open
+    - neck_joint_1_rad
+    - neck_joint_2_rad
+    - torso_joint_1_rad
+    - torso_joint_2_rad
+    - torso_joint_3_rad
+    - torso_joint_4_rad
+  action:
+    dtype: float32
+    shape:
+    - 34
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - left_arm_joint_7_rad
+    - left_eef_pos_x_m
+    - left_eef_pos_y_m
+    - left_eef_pos_z_m
+    - left_eef_rot_euler_x_rad
+    - left_eef_rot_euler_y_rad
+    - left_eef_rot_euler_z_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - right_arm_joint_7_rad
+    - right_eef_pos_x_m
+    - right_eef_pos_y_m
+    - right_eef_pos_z_m
+    - right_eef_rot_euler_x_rad
+    - right_eef_rot_euler_y_rad
+    - right_eef_rot_euler_z_rad
+    - left_gripper_open
+    - right_gripper_open
+    - neck_joint_1_rad
+    - neck_joint_2_rad
+    - torso_joint_1_rad
+    - torso_joint_2_rad
+    - torso_joint_3_rad
+    - torso_joint_4_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  gripper_open_scale_state:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    dtype: float64
+    shape:
+    - 2
+  gripper_open_scale_action:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    dtype: float64
+    shape:
+    - 2
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    dtype: float32
+    shape:
+    - 12
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    dtype: float32
+    shape:
+    - 12
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    dtype: int32
+    shape:
+    - 2
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    dtype: int32
+    shape:
+    - 2
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    dtype: int32
+    shape:
+    - 2
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    dtype: int32
+    shape:
+    - 2
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    dtype: int32
+    shape:
+    - 2
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    dtype: int32
+    shape:
+    - 2
+  gripper_mode_state:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    dtype: int32
+    shape:
+    - 2
+  gripper_mode_action:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    dtype: int32
+    shape:
+    - 2
+  gripper_activity_state:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    dtype: int32
+    shape:
+    - 2
+  gripper_activity_action:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    dtype: int32
+    shape:
+    - 2
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_front_chest_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_front_chest_rgb/episode_000000.mp4

dataset_info/AI2_Alphabot_2_store_toys_4.yaml

@@ -0,0 +1,494 @@
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
+dataset_name: AI2_Alphabot_2_store_toys_4
+dataset_uuid: 2e0cc553-9dab-452f-bfe2-7b7072112bdc
+scene_type:
+  level1: Household
+  level2: Living Room
+  level3: null
+  level4: null
+  level5: null
+env_type: real_world
+objects:
+- object_name: open top box
+  color: blue
+- object_name: figure
+  color: blue
+- object_name: figure
+  color: black
+task_operation_type: fixed_single_arm
+task_instruction: &id001
+- Pick up the two dolls from the table and place them into the box.
+sub_tasks: *id001
+atomic_actions:
+- grasp
+- place
+robot_name: AI2_Alphabot_2
+end_effector_type: two_finger_end_effector
+tele_type: vr_controller
+sensor_list:
+- cam_front_chest_rgb
+- cam_front_head_rgb
+- cam_left_wrist_rgb
+- cam_right_wrist_rgb
+came_info:
+  cam_front_chest_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=h264,
+    pix_fmt=yuv420p
+  cam_front_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=h264,
+    pix_fmt=yuv420p
+  cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=h264,
+    pix_fmt=yuv420p
+  cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=h264,
+    pix_fmt=yuv420p
+depth_enabled: false
+coordinate_definition: right-hand-frame
+joint_rotation_dim: radian
+end_rotation_dim: radian
+end_translation_dim: meter
+annotations:
+- eef_acc_mag_annotation.jsonl
+- eef_direction_annotation.jsonl
+- eef_velocity_annotation.jsonl
+- gripper_activity_annotation.jsonl
+- gripper_mode_annotation.jsonl
+statistics:
+  total_episodes: 489
+  total_frames: 192629
+  fps: 30
+  total_tasks: 1
+  total_videos: 1956
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 34
+  action_dim: 34
+  camera_views: 4
+  dataset_size: 2.41 GB
+frame_num: 192629
+frame_range: 1M
+dataset_size: 2.41 GB
+data_structure: 'AI2_Alphabot_2_store_toys_4_qced_hardlink/
+
+  |-- annotations
+
+  |   |-- eef_acc_mag_annotation.jsonl
+
+  |   |-- eef_direction_annotation.jsonl
+
+  |   |-- eef_velocity_annotation.jsonl
+
+  |   |-- gripper_activity_annotation.jsonl
+
+  |   `-- gripper_mode_annotation.jsonl
+
+  |-- data
+
+  |   `-- chunk-000
+
+  |       |-- episode_000000.parquet
+
+  |       |-- episode_000001.parquet
+
+  |       |-- episode_000002.parquet
+
+  |       |-- episode_000003.parquet
+
+  |       |-- episode_000004.parquet
+
+  |       |-- episode_000005.parquet
+
+  |       |-- episode_000006.parquet
+
+  |       |-- episode_000007.parquet
+
+  |       |-- episode_000008.parquet
+
+  |       |-- episode_000009.parquet
+
+  |       |-- episode_000010.parquet
+
+  |       `-- episode_000011.parquet
+
+  |       `-- ... (477 more entries)
+
+  |-- meta
+
+  |   |-- episodes.jsonl
+
+  |   |-- episodes_stats.jsonl
+
+  |   |-- info.json
+
+  |   `-- tasks.jsonl
+
+  |-- videos
+
+  |   `-- chunk-000
+
+  |       |-- observation.images.cam_front_chest_rgb
+
+  |       |-- observation.images.cam_front_head_rgb
+
+  |       |-- observation.images.cam_left_wrist_rgb
+
+  |       `-- observation.images.cam_right_wrist_rgb
+
+  |-- info.yaml
+
+  `-- README.md'
+splits:
+  train: 0:488
+features:
+  observation.images.cam_front_chest_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: h264
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_front_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: h264
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: h264
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: h264
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 34
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - left_arm_joint_7_rad
+    - left_eef_pos_x_m
+    - left_eef_pos_y_m
+    - left_eef_pos_z_m
+    - left_eef_rot_euler_x_rad
+    - left_eef_rot_euler_y_rad
+    - left_eef_rot_euler_z_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - right_arm_joint_7_rad
+    - right_eef_pos_x_m
+    - right_eef_pos_y_m
+    - right_eef_pos_z_m
+    - right_eef_rot_euler_x_rad
+    - right_eef_rot_euler_y_rad
+    - right_eef_rot_euler_z_rad
+    - left_gripper_open
+    - right_gripper_open
+    - neck_joint_1_rad
+    - neck_joint_2_rad
+    - torso_joint_1_rad
+    - torso_joint_2_rad
+    - torso_joint_3_rad
+    - torso_joint_4_rad
+  action:
+    dtype: float32
+    shape:
+    - 34
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - left_arm_joint_7_rad
+    - left_eef_pos_x_m
+    - left_eef_pos_y_m
+    - left_eef_pos_z_m
+    - left_eef_rot_euler_x_rad
+    - left_eef_rot_euler_y_rad
+    - left_eef_rot_euler_z_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - right_arm_joint_7_rad
+    - right_eef_pos_x_m
+    - right_eef_pos_y_m
+    - right_eef_pos_z_m
+    - right_eef_rot_euler_x_rad
+    - right_eef_rot_euler_y_rad
+    - right_eef_rot_euler_z_rad
+    - left_gripper_open
+    - right_gripper_open
+    - neck_joint_1_rad
+    - neck_joint_2_rad
+    - torso_joint_1_rad
+    - torso_joint_2_rad
+    - torso_joint_3_rad
+    - torso_joint_4_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  gripper_open_scale_state:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    dtype: float64
+    shape:
+    - 2
+  gripper_open_scale_action:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    dtype: float64
+    shape:
+    - 2
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    dtype: float32
+    shape:
+    - 12
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    dtype: float32
+    shape:
+    - 12
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    dtype: int32
+    shape:
+    - 2
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    dtype: int32
+    shape:
+    - 2
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    dtype: int32
+    shape:
+    - 2
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    dtype: int32
+    shape:
+    - 2
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    dtype: int32
+    shape:
+    - 2
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    dtype: int32
+    shape:
+    - 2
+  gripper_mode_state:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    dtype: int32
+    shape:
+    - 2
+  gripper_mode_action:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    dtype: int32
+    shape:
+    - 2
+  gripper_activity_state:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    dtype: int32
+    shape:
+    - 2
+  gripper_activity_action:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    dtype: int32
+    shape:
+    - 2
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_front_chest_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_front_chest_rgb/episode_000000.mp4

dataset_info/AI2_Alphabot_2_store_toys_5.yaml

@@ -0,0 +1,515 @@
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
+dataset_name: AI2_Alphabot_2_store_toys_5
+dataset_uuid: fb712460-4fe1-45d5-a3d2-c9c100a3aedc
+scene_type:
+  level1: Industry
+  level2: Inspection Area
+  level3: null
+  level4: null
+  level5: null
+env_type: real_world
+objects:
+- id: duck_doll
+  name: duck doll
+  color: blue
+  anchor_policy: static
+- id: lion_doll
+  name: lion_doll
+  color: brown
+  anchor_policy: static
+- id: pig_doll
+  name: pig_doll
+  color: pink
+  anchor_policy: static
+- id: open_top_box
+  name: open top box
+  color: blue
+  anchor_policy: static
+- id: table
+  name: table
+  color: white
+  anchor_policy: static
+task_operation_type: fixed_dual_arm
+task_instruction: Use the right hand to place the duck plush toy into the storage
+  box, then use the left hand to place the dog plush toy into the storage box.
+sub_tasks:
+- Use the right hand to place the duck plush toy into the storage box, then use the
+  left hand to place the dog plush toy into the storage box.
+atomic_actions:
+- grasp
+- release
+robot_name:
+- AI2_Alphabot_2
+end_effector_type:
+- two_finger_end_effector
+tele_type: vr_controller
+sensor_list:
+- cam_front_chest_rgb
+- cam_front_head_rgb
+- cam_left_wrist_rgb
+- cam_right_wrist_rgb
+came_info:
+  cam_front_chest_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_front_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+  cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1,
+    pix_fmt=yuv420p
+depth_enabled: false
+coordinate_definition: right-hand-frame
+joint_rotation_dim: radian
+end_rotation_dim: radian
+end_translation_dim: meter
+annotations:
+- camera_params.json
+- eef_acc_mag_annotation.jsonl
+- eef_direction_annotation.jsonl
+- eef_velocity_annotation.jsonl
+- gripper_activity_annotation.jsonl
+- gripper_mode_annotation.jsonl
+statistics:
+  total_episodes: 852
+  total_frames: 471302
+  fps: 30
+  total_tasks: 1
+  total_videos: 3408
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 34
+  action_dim: 34
+  camera_views: 4
+  dataset_size: 9.45 GB
+frame_num: 471302
+frame_range: 1M
+dataset_size: 9.45 GB
+data_structure: 'AI2_Alphabot_2_store_toys_5_qced_hardlink/
+
+  |-- annotations
+
+  |   |-- camera_params.json
+
+  |   |-- eef_acc_mag_annotation.jsonl
+
+  |   |-- eef_direction_annotation.jsonl
+
+  |   |-- eef_velocity_annotation.jsonl
+
+  |   |-- gripper_activity_annotation.jsonl
+
+  |   `-- gripper_mode_annotation.jsonl
+
+  |-- data
+
+  |   `-- chunk-000
+
+  |       |-- episode_000000.parquet
+
+  |       |-- episode_000001.parquet
+
+  |       |-- episode_000002.parquet
+
+  |       |-- episode_000003.parquet
+
+  |       |-- episode_000004.parquet
+
+  |       |-- episode_000005.parquet
+
+  |       |-- episode_000006.parquet
+
+  |       |-- episode_000007.parquet
+
+  |       |-- episode_000008.parquet
+
+  |       |-- episode_000009.parquet
+
+  |       |-- episode_000010.parquet
+
+  |       `-- episode_000011.parquet
+
+  |       `-- ... (840 more entries)
+
+  |-- meta
+
+  |   |-- episodes.jsonl
+
+  |   |-- episodes_stats.jsonl
+
+  |   |-- info.json
+
+  |   `-- tasks.jsonl
+
+  |-- videos
+
+  |   `-- chunk-000
+
+  |       |-- observation.images.cam_front_chest_rgb
+
+  |       |-- observation.images.cam_front_head_rgb
+
+  |       |-- observation.images.cam_left_wrist_rgb
+
+  |       `-- observation.images.cam_right_wrist_rgb
+
+  |-- info.yaml
+
+  `-- README.md'
+splits:
+  train: 0:851
+features:
+  observation.images.cam_front_chest_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_front_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: av1
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 34
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - left_arm_joint_7_rad
+    - left_eef_pos_x_m
+    - left_eef_pos_y_m
+    - left_eef_pos_z_m
+    - left_eef_rot_euler_x_rad
+    - left_eef_rot_euler_y_rad
+    - left_eef_rot_euler_z_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - right_arm_joint_7_rad
+    - right_eef_pos_x_m
+    - right_eef_pos_y_m
+    - right_eef_pos_z_m
+    - right_eef_rot_euler_x_rad
+    - right_eef_rot_euler_y_rad
+    - right_eef_rot_euler_z_rad
+    - left_gripper_open
+    - right_gripper_open
+    - neck_joint_1_rad
+    - neck_joint_2_rad
+    - torso_joint_1_rad
+    - torso_joint_2_rad
+    - torso_joint_3_rad
+    - torso_joint_4_rad
+  action:
+    dtype: float32
+    shape:
+    - 34
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - left_arm_joint_7_rad
+    - left_eef_pos_x_m
+    - left_eef_pos_y_m
+    - left_eef_pos_z_m
+    - left_eef_rot_euler_x_rad
+    - left_eef_rot_euler_y_rad
+    - left_eef_rot_euler_z_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - right_arm_joint_7_rad
+    - right_eef_pos_x_m
+    - right_eef_pos_y_m
+    - right_eef_pos_z_m
+    - right_eef_rot_euler_x_rad
+    - right_eef_rot_euler_y_rad
+    - right_eef_rot_euler_z_rad
+    - left_gripper_open
+    - right_gripper_open
+    - neck_joint_1_rad
+    - neck_joint_2_rad
+    - torso_joint_1_rad
+    - torso_joint_2_rad
+    - torso_joint_3_rad
+    - torso_joint_4_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  gripper_open_scale_state:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    dtype: float64
+    shape:
+    - 2
+  gripper_open_scale_action:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    dtype: float64
+    shape:
+    - 2
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    dtype: float32
+    shape:
+    - 12
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    dtype: float32
+    shape:
+    - 12
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    dtype: int32
+    shape:
+    - 2
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    dtype: int32
+    shape:
+    - 2
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    dtype: int32
+    shape:
+    - 2
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    dtype: int32
+    shape:
+    - 2
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    dtype: int32
+    shape:
+    - 2
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    dtype: int32
+    shape:
+    - 2
+  gripper_mode_state:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    dtype: int32
+    shape:
+    - 2
+  gripper_mode_action:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    dtype: int32
+    shape:
+    - 2
+  gripper_activity_state:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    dtype: int32
+    shape:
+    - 2
+  gripper_activity_action:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    dtype: int32
+    shape:
+    - 2
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_front_chest_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_front_chest_rgb/episode_000000.mp4

dataset_info/AI2_Alphabot_2_test_data_cable.yaml

@@ -38,6 +38,7 @@ task_operation_type: fixed_dual_arm
 task_instruction: &id001
 - Pick up the data cable with the left hand.
 - Use the voltage tester with the right hand to verify the data cable.
+sub_tasks: *id001
 atomic_actions:
 - pick
 - move
@@ -66,6 +67,7 @@ joint_rotation_dim: radian
 end_rotation_dim: radian
 end_translation_dim: meter
 annotations:
+- camera_params.json
 - eef_acc_mag_annotation.jsonl
 - eef_direction_annotation.jsonl
 - eef_velocity_annotation.jsonl
@@ -86,19 +88,77 @@ statistics:
 frame_num: 326536
 frame_range: 1M
 dataset_size: 5.77 GB
-data_structure: "AI2_Alphabot_2_test_data_cable_0_qced_hardlink/\n|-- annotations\n\
-  |   |-- eef_acc_mag_annotation.jsonl\n|   |-- eef_direction_annotation.jsonl\n|\
-  \   |-- eef_velocity_annotation.jsonl\n|   |-- gripper_activity_annotation.jsonl\n\
-  |   `-- gripper_mode_annotation.jsonl\n|-- data\n|   `-- chunk-000\n|       |--\
-  \ episode_000000.parquet\n|       |-- episode_000001.parquet\n|       |-- episode_000002.parquet\n\
-  |       |-- episode_000003.parquet\n|       |-- episode_000004.parquet\n|      \
-  \ |-- episode_000005.parquet\n|       |-- episode_000006.parquet\n|       |-- episode_000007.parquet\n\
-  |       |-- episode_000008.parquet\n|       |-- episode_000009.parquet\n|      \
-  \ |-- episode_000010.parquet\n|       `-- episode_000011.parquet\n|       `-- ...\
-  \ (916 more entries)\n|-- meta\n|   |-- episodes.jsonl\n|   |-- episodes_stats.jsonl\n\
-  |   |-- info.json\n|   `-- tasks.jsonl\n`-- videos\n    `-- chunk-000\n        |--\
-  \ observation.images.cam_front_chest_rgb\n        |-- observation.images.cam_front_head_rgb\n\
-  \        |-- observation.images.cam_left_wrist_rgb\n        `-- observation.images.cam_right_wrist_rgb"
+data_structure: 'AI2_Alphabot_2_test_data_cable_0_qced_hardlink/
+
+  |-- annotations
+
+  |   |-- camera_params.json
+
+  |   |-- eef_acc_mag_annotation.jsonl
+
+  |   |-- eef_direction_annotation.jsonl
+
+  |   |-- eef_velocity_annotation.jsonl
+
+  |   |-- gripper_activity_annotation.jsonl
+
+  |   `-- gripper_mode_annotation.jsonl
+
+  |-- data
+
+  |   `-- chunk-000
+
+  |       |-- episode_000000.parquet
+
+  |       |-- episode_000001.parquet
+
+  |       |-- episode_000002.parquet
+
+  |       |-- episode_000003.parquet
+
+  |       |-- episode_000004.parquet
+
+  |       |-- episode_000005.parquet
+
+  |       |-- episode_000006.parquet
+
+  |       |-- episode_000007.parquet
+
+  |       |-- episode_000008.parquet
+
+  |       |-- episode_000009.parquet
+
+  |       |-- episode_000010.parquet
+
+  |       `-- episode_000011.parquet
+
+  |       `-- ... (916 more entries)
+
+  |-- meta
+
+  |   |-- episodes.jsonl
+
+  |   |-- episodes_stats.jsonl
+
+  |   |-- info.json
+
+  |   `-- tasks.jsonl
+
+  |-- videos
+
+  |   `-- chunk-000
+
+  |       |-- observation.images.cam_front_chest_rgb
+
+  |       |-- observation.images.cam_front_head_rgb
+
+  |       |-- observation.images.cam_left_wrist_rgb
+
+  |       `-- observation.images.cam_right_wrist_rgb
+
+  |-- info.yaml
+
+  `-- README.md'
 splits:
   train: 0:927
 features:
@@ -435,5 +495,4 @@ additional_citations: 'If you use this dataset, please also consider citing:
 version_info: Initial Release
 data_path: data/chunk-{id}/episode_{id}.parquet
 video_path: videos/chunk-{id}/observation.images.cam_front_chest_rgb/episode_{id}.mp{id}
-sub_tasks: *id001
 video_url: videos/chunk-000/observation.images.cam_front_chest_rgb/episode_000000.mp4

dataset_info/AI2_Alphabot_2_test_electricity.yaml

@@ -0,0 +1,492 @@
+task_categories:
+- robotics
+language:
+- en
+tags:
+- RoboCOIN
+- LeRobot
+license: apache-2.0
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper
+  in your research/publications—see the "Citation" section for details. You agree
+  to not use the dataset to conduct experiments that cause harm to human subjects.
+extra_gated_fields:
+  Company/Organization:
+    type: text
+    description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"
+  Country:
+    type: country
+    description: e.g., "Germany", "China", "United States"
+codebase_version: v2.1
+dataset_name: AI2_Alphabot_2_test_electricity
+dataset_uuid: 4508f796-f4a0-4891-a090-06c24b83d5b3
+scene_type:
+  level1: Industry
+  level2: Inspection Area
+  level3: null
+  level4: null
+  level5: null
+env_type: real_world
+objects:
+- object_name: voltage tester
+  color: black
+- object_name: data cable
+  color: black
+task_operation_type: fixed_dual_arm
+task_instruction: &id001
+- Use a voltage tester to check the data cable.
+sub_tasks: *id001
+atomic_actions:
+- grasp
+- insert
+robot_name: AI2_Alphabot_2
+end_effector_type: two_finger_end_effector
+tele_type: vr_controller
+sensor_list:
+- cam_front_chest_rgb
+- cam_front_head_rgb
+- cam_left_wrist_rgb
+- cam_right_wrist_rgb
+came_info:
+  cam_front_chest_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=h264,
+    pix_fmt=yuv420p
+  cam_front_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=h264,
+    pix_fmt=yuv420p
+  cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=h264,
+    pix_fmt=yuv420p
+  cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=h264,
+    pix_fmt=yuv420p
+depth_enabled: false
+coordinate_definition: right-hand-frame
+joint_rotation_dim: radian
+end_rotation_dim: radian
+end_translation_dim: meter
+annotations:
+- eef_acc_mag_annotation.jsonl
+- eef_direction_annotation.jsonl
+- eef_velocity_annotation.jsonl
+- gripper_activity_annotation.jsonl
+- gripper_mode_annotation.jsonl
+statistics:
+  total_episodes: 142
+  total_frames: 48108
+  fps: 30
+  total_tasks: 1
+  total_videos: 568
+  total_chunks: 1
+  chunks_size: 1000
+  state_dim: 34
+  action_dim: 34
+  camera_views: 4
+  dataset_size: 480.93 MB
+frame_num: 48108
+frame_range: 100K
+dataset_size: 480.93 MB
+data_structure: 'AI2_Alphabot_2_test_electricity_0_qced_hardlink/
+
+  |-- annotations
+
+  |   |-- eef_acc_mag_annotation.jsonl
+
+  |   |-- eef_direction_annotation.jsonl
+
+  |   |-- eef_velocity_annotation.jsonl
+
+  |   |-- gripper_activity_annotation.jsonl
+
+  |   `-- gripper_mode_annotation.jsonl
+
+  |-- data
+
+  |   `-- chunk-000
+
+  |       |-- episode_000000.parquet
+
+  |       |-- episode_000001.parquet
+
+  |       |-- episode_000002.parquet
+
+  |       |-- episode_000003.parquet
+
+  |       |-- episode_000004.parquet
+
+  |       |-- episode_000005.parquet
+
+  |       |-- episode_000006.parquet
+
+  |       |-- episode_000007.parquet
+
+  |       |-- episode_000008.parquet
+
+  |       |-- episode_000009.parquet
+
+  |       |-- episode_000010.parquet
+
+  |       `-- episode_000011.parquet
+
+  |       `-- ... (130 more entries)
+
+  |-- meta
+
+  |   |-- episodes.jsonl
+
+  |   |-- episodes_stats.jsonl
+
+  |   |-- info.json
+
+  |   `-- tasks.jsonl
+
+  |-- videos
+
+  |   `-- chunk-000
+
+  |       |-- observation.images.cam_front_chest_rgb
+
+  |       |-- observation.images.cam_front_head_rgb
+
+  |       |-- observation.images.cam_left_wrist_rgb
+
+  |       `-- observation.images.cam_right_wrist_rgb
+
+  |-- info.yaml
+
+  `-- README.md'
+splits:
+  train: 0:141
+features:
+  observation.images.cam_front_chest_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: h264
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_front_head_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: h264
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_left_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: h264
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.images.cam_right_wrist_rgb:
+    dtype: video
+    shape:
+    - 480
+    - 640
+    - 3
+    names:
+    - height
+    - width
+    - channels
+    info:
+      video.height: 480
+      video.width: 640
+      video.codec: h264
+      video.pix_fmt: yuv420p
+      video.is_depth_map: false
+      video.fps: 30
+      video.channels: 3
+      has_audio: false
+  observation.state:
+    dtype: float32
+    shape:
+    - 34
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - left_arm_joint_7_rad
+    - left_eef_pos_x_m
+    - left_eef_pos_y_m
+    - left_eef_pos_z_m
+    - left_eef_rot_euler_x_rad
+    - left_eef_rot_euler_y_rad
+    - left_eef_rot_euler_z_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - right_arm_joint_7_rad
+    - right_eef_pos_x_m
+    - right_eef_pos_y_m
+    - right_eef_pos_z_m
+    - right_eef_rot_euler_x_rad
+    - right_eef_rot_euler_y_rad
+    - right_eef_rot_euler_z_rad
+    - left_gripper_open
+    - right_gripper_open
+    - neck_joint_1_rad
+    - neck_joint_2_rad
+    - torso_joint_1_rad
+    - torso_joint_2_rad
+    - torso_joint_3_rad
+    - torso_joint_4_rad
+  action:
+    dtype: float32
+    shape:
+    - 34
+    names:
+    - left_arm_joint_1_rad
+    - left_arm_joint_2_rad
+    - left_arm_joint_3_rad
+    - left_arm_joint_4_rad
+    - left_arm_joint_5_rad
+    - left_arm_joint_6_rad
+    - left_arm_joint_7_rad
+    - left_eef_pos_x_m
+    - left_eef_pos_y_m
+    - left_eef_pos_z_m
+    - left_eef_rot_euler_x_rad
+    - left_eef_rot_euler_y_rad
+    - left_eef_rot_euler_z_rad
+    - right_arm_joint_1_rad
+    - right_arm_joint_2_rad
+    - right_arm_joint_3_rad
+    - right_arm_joint_4_rad
+    - right_arm_joint_5_rad
+    - right_arm_joint_6_rad
+    - right_arm_joint_7_rad
+    - right_eef_pos_x_m
+    - right_eef_pos_y_m
+    - right_eef_pos_z_m
+    - right_eef_rot_euler_x_rad
+    - right_eef_rot_euler_y_rad
+    - right_eef_rot_euler_z_rad
+    - left_gripper_open
+    - right_gripper_open
+    - neck_joint_1_rad
+    - neck_joint_2_rad
+    - torso_joint_1_rad
+    - torso_joint_2_rad
+    - torso_joint_3_rad
+    - torso_joint_4_rad
+  timestamp:
+    dtype: float32
+    shape:
+    - 1
+    names: null
+  frame_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  episode_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  task_index:
+    dtype: int64
+    shape:
+    - 1
+    names: null
+  gripper_open_scale_state:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    dtype: float64
+    shape:
+    - 2
+  gripper_open_scale_action:
+    names:
+    - left_gripper_open_scale
+    - right_gripper_open_scale
+    dtype: float64
+    shape:
+    - 2
+  eef_sim_pose_state:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    dtype: float32
+    shape:
+    - 12
+  eef_sim_pose_action:
+    names:
+    - left_eef_pos_x
+    - left_eef_pos_y
+    - left_eef_pos_z
+    - left_eef_rot_x
+    - left_eef_rot_y
+    - left_eef_rot_z
+    - right_eef_pos_x
+    - right_eef_pos_y
+    - right_eef_pos_z
+    - right_eef_rot_x
+    - right_eef_rot_y
+    - right_eef_rot_z
+    dtype: float32
+    shape:
+    - 12
+  eef_direction_state:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    dtype: int32
+    shape:
+    - 2
+  eef_direction_action:
+    names:
+    - left_eef_direction
+    - right_eef_direction
+    dtype: int32
+    shape:
+    - 2
+  eef_velocity_state:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    dtype: int32
+    shape:
+    - 2
+  eef_velocity_action:
+    names:
+    - left_eef_velocity
+    - right_eef_velocity
+    dtype: int32
+    shape:
+    - 2
+  eef_acc_mag_state:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    dtype: int32
+    shape:
+    - 2
+  eef_acc_mag_action:
+    names:
+    - left_eef_acc_mag
+    - right_eef_acc_mag
+    dtype: int32
+    shape:
+    - 2
+  gripper_mode_state:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    dtype: int32
+    shape:
+    - 2
+  gripper_mode_action:
+    names:
+    - left_gripper_mode
+    - right_gripper_mode
+    dtype: int32
+    shape:
+    - 2
+  gripper_activity_state:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    dtype: int32
+    shape:
+    - 2
+  gripper_activity_action:
+    names:
+    - left_gripper_activity
+    - right_gripper_activity
+    dtype: int32
+    shape:
+    - 2
+authors:
+  contributed_by:
+  - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+dataset_description: This dataset uses an extended format based on LeRobot and is
+  fully compatible with LeRobot.
+homepage: https://flagopen.github.io/RoboCOIN/
+paper: https://arxiv.org/abs/2511.17441
+repository: https://github.com/FlagOpen/RoboCOIN
+contact_info: For questions, issues, or feedback regarding this dataset, please contact
+  us.
+support_info: For technical support, please open an issue on our GitHub repository.
+license_details: apache-2.0
+citation_bibtex: "@article{robocoin,\n  title={RoboCOIN: An Open-Sourced Bimanual\
+  \ Robotic Data Collection for Integrated Manipulation},\n  author={Shihan Wu, Xuecheng\
+  \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\
+  \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\
+  \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\
+  \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\
+  \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\
+  \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\
+  \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\
+  \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\
+  \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\
+  \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\
+  \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\
+  \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\
+  \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n  journal={arXiv preprint arXiv:2511.17441},\n\
+  \  url = {https://arxiv.org/abs/2511.17441},\n  year={2025},\n  }\n"
+additional_citations: 'If you use this dataset, please also consider citing:
+
+  LeRobot Framework: https://github.com/huggingface/lerobot
+
+  '
+version_info: Initial Release
+data_path: data/chunk-{id}/episode_{id}.parquet
+video_path: videos/chunk-{id}/observation.images.cam_front_chest_rgb/episode_{id}.mp{id}
+video_url: videos/chunk-000/observation.images.cam_front_chest_rgb/episode_000000.mp4

dataset_info/AI2_Alphabot_2_tidy_countertop.yaml

@@ -156,7 +156,9 @@ data_structure: 'AI2_Alphabot_2_tidy_countertop_0_qced_hardlink/
 
   |       `-- observation.images.cam_right_wrist_rgb
 
-  `-- info.yaml'
+  |-- info.yaml
+
+  `-- README.md'
 splits:
   train: 0:405
 features: