diff --git a/dataset_info/AI2_Alphabot_2_arrange_teaset.yaml b/dataset_info/AI2_Alphabot_2_arrange_teaset.yaml index 373fb940371fd813c97f0196aaed6010eb57607f..964b2bd7215fc2c147cccd5c0d0803076aa5808a 100644 --- a/dataset_info/AI2_Alphabot_2_arrange_teaset.yaml +++ b/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 diff --git a/dataset_info/AI2_Alphabot_2_brush_egg_wash.yaml b/dataset_info/AI2_Alphabot_2_brush_egg_wash.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6794012da65e03be5ecab52869190e921dcd5646 --- /dev/null +++ b/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 diff --git a/dataset_info/AI2_Alphabot_2_clink_glasses.yaml b/dataset_info/AI2_Alphabot_2_clink_glasses.yaml index b03d0a60b1b1d68890f19906e9594ce83b83f4ac..a83a42419c0c4e36bdda8acad495b03f72834a07 100644 --- a/dataset_info/AI2_Alphabot_2_clink_glasses.yaml +++ b/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 diff --git a/dataset_info/AI2_Alphabot_2_grind_ink.yaml b/dataset_info/AI2_Alphabot_2_grind_ink.yaml index eecfb85b77dc30e65b9a1ebcf7a0b1a71d6ba61b..030724e23e12ce4f33fb370ce7438fa1941782fd 100644 --- a/dataset_info/AI2_Alphabot_2_grind_ink.yaml +++ b/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: diff --git a/dataset_info/AI2_Alphabot_2_heat_test_tube.yaml b/dataset_info/AI2_Alphabot_2_heat_test_tube.yaml index 311d36b0b8935b30a8cd246ca5e9b1aaa8ee480a..2f59b2f710463197059a97ddebc5b054ca3ffd8a 100644 --- a/dataset_info/AI2_Alphabot_2_heat_test_tube.yaml +++ b/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 diff --git a/dataset_info/AI2_Alphabot_2_insert_hose_into_hole.yaml b/dataset_info/AI2_Alphabot_2_insert_hose_into_hole.yaml index f13b18c3324ed224959831ff0d8040b6450d08d8..dffc9266ce8ae3315bd43a72a8478791ea7a0366 100644 --- a/dataset_info/AI2_Alphabot_2_insert_hose_into_hole.yaml +++ b/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: diff --git a/dataset_info/AI2_Alphabot_2_insert_straw.yaml b/dataset_info/AI2_Alphabot_2_insert_straw.yaml index 2cfac322361e7839aa9aaee5b0bc8547a5c6241d..4387e0d6bfb6bea745e267d3d4a040a330c70736 100644 --- a/dataset_info/AI2_Alphabot_2_insert_straw.yaml +++ b/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 diff --git a/dataset_info/AI2_Alphabot_2_insert_water_pipe.yaml b/dataset_info/AI2_Alphabot_2_insert_water_pipe.yaml index 6f514b540a8ada7a8b6b2a6b35695c9c3aa32f56..b52903842b179e39d1a85b121d060af9045664b2 100644 --- a/dataset_info/AI2_Alphabot_2_insert_water_pipe.yaml +++ b/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 diff --git a/dataset_info/AI2_Alphabot_2_move_basket.yaml b/dataset_info/AI2_Alphabot_2_move_basket.yaml index 74f05c574c72267a0bfba66c2e1a3ebc3be4c9f2..d00cdc23a39a6cf05772ef7efc0efd435dac6b89 100644 --- a/dataset_info/AI2_Alphabot_2_move_basket.yaml +++ b/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 diff --git a/dataset_info/AI2_Alphabot_2_move_test_tube.yaml b/dataset_info/AI2_Alphabot_2_move_test_tube.yaml index d4806178dc489739d086719e88da8f7671ec302a..2cd71dafb77c702d5378bc44f980f4b1024df2ad 100644 --- a/dataset_info/AI2_Alphabot_2_move_test_tube.yaml +++ b/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 diff --git a/dataset_info/AI2_Alphabot_2_move_test_tube_1.yaml b/dataset_info/AI2_Alphabot_2_move_test_tube_1.yaml new file mode 100644 index 0000000000000000000000000000000000000000..cdd0d0ce928b22f8e0041583eb3d98d939d31fc7 --- /dev/null +++ b/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 diff --git a/dataset_info/AI2_Alphabot_2_open_microwave.yaml b/dataset_info/AI2_Alphabot_2_open_microwave.yaml index 51383faef888c67f7f40b3153514c0c2c48ae859..90ba1693f4eea282f2f83f64e2ac167f197d889f 100644 --- a/dataset_info/AI2_Alphabot_2_open_microwave.yaml +++ b/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 diff --git a/dataset_info/AI2_Alphabot_2_organize_cosmetics.yaml b/dataset_info/AI2_Alphabot_2_organize_cosmetics.yaml index 4e37e4a4a4b8220fea918d79e83586b19784038d..cc399ad44223894cc90bbe5c6986e0a20449198a 100644 --- a/dataset_info/AI2_Alphabot_2_organize_cosmetics.yaml +++ b/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 diff --git a/dataset_info/AI2_Alphabot_2_organize_cosmetics_1.yaml b/dataset_info/AI2_Alphabot_2_organize_cosmetics_1.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ad2df10650eb1b4bf7a0e1531b849654b92b2c20 --- /dev/null +++ b/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 diff --git a/dataset_info/AI2_Alphabot_2_organize_lab_equipment.yaml b/dataset_info/AI2_Alphabot_2_organize_lab_equipment.yaml index 224c8753e190c8648931e4015ccdc2c898f2c545..343fc99960832b0904b1bef73d43180a28f4f72e 100644 --- a/dataset_info/AI2_Alphabot_2_organize_lab_equipment.yaml +++ b/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 diff --git a/dataset_info/AI2_Alphabot_2_organize_pencil_holder.yaml b/dataset_info/AI2_Alphabot_2_organize_pencil_holder.yaml index 0d1505aeffeb1943133f27fc641782d521ae749c..a2a583ca22f7521f6d5d7f0d726b124588e6c3b2 100644 --- a/dataset_info/AI2_Alphabot_2_organize_pencil_holder.yaml +++ b/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 diff --git a/dataset_info/AI2_Alphabot_2_package_fruit.yaml b/dataset_info/AI2_Alphabot_2_package_fruit.yaml index f351d31594dfa2d0106d855b6cd44c3444ea5880..f03250eeaa3ab8ed689f37a5bf2857cdbe2e0692 100644 --- a/dataset_info/AI2_Alphabot_2_package_fruit.yaml +++ b/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 diff --git a/dataset_info/AI2_Alphabot_2_package_fruit_1.yaml b/dataset_info/AI2_Alphabot_2_package_fruit_1.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b33af9c506da65f7c80ccf8a7b1b4739137a415d --- /dev/null +++ b/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 diff --git a/dataset_info/AI2_Alphabot_2_package_fruit_2.yaml b/dataset_info/AI2_Alphabot_2_package_fruit_2.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5bfa71f2f2d3b59b4d64e6d838cb2a4a406a6b86 --- /dev/null +++ b/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 diff --git a/dataset_info/AI2_Alphabot_2_pick_stirring_rod.yaml b/dataset_info/AI2_Alphabot_2_pick_stirring_rod.yaml index b02e776b7846e95b4174fc1742557d937607c3d9..5124050781c713c2eb9cd064321dbd5a2de686e2 100644 --- a/dataset_info/AI2_Alphabot_2_pick_stirring_rod.yaml +++ b/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 diff --git a/dataset_info/AI2_Alphabot_2_pick_test_tube.yaml b/dataset_info/AI2_Alphabot_2_pick_test_tube.yaml index f44f01665908e3c042bcadcf435511167d3a73db..88a6f7d46c8fecb176f70b45521ccbd2f9cd9e96 100644 --- a/dataset_info/AI2_Alphabot_2_pick_test_tube.yaml +++ b/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 diff --git a/dataset_info/AI2_Alphabot_2_pick_thermometer.yaml b/dataset_info/AI2_Alphabot_2_pick_thermometer.yaml index 5e545f02cf36a14cc3caa4d8b3f7c9bc9a7d63ae..b3704117302bd8782011fb33944ee996e867630c 100644 --- a/dataset_info/AI2_Alphabot_2_pick_thermometer.yaml +++ b/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 diff --git a/dataset_info/AI2_Alphabot_2_place_Tapes.yaml b/dataset_info/AI2_Alphabot_2_place_Tapes.yaml index 67f22953e0c29901bb92c25e45366c1b46fa347e..cafd7ec70b250b3748470d1b1e83021e7dc69685 100644 --- a/dataset_info/AI2_Alphabot_2_place_Tapes.yaml +++ b/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 diff --git a/dataset_info/AI2_Alphabot_2_place_pen.yaml b/dataset_info/AI2_Alphabot_2_place_pen.yaml index f7908303cacb7e54cf50aa6656368b0968486345..a8eca5e0cf10c63ed6465c5fbe4e443689f0e6c8 100644 --- a/dataset_info/AI2_Alphabot_2_place_pen.yaml +++ b/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 diff --git a/dataset_info/AI2_Alphabot_2_pour_liquid.yaml b/dataset_info/AI2_Alphabot_2_pour_liquid.yaml index db000d14d2951a4f9304227e52775d8df37d0033..7e769729c15af5960adb378892f22b91191eef20 100644 --- a/dataset_info/AI2_Alphabot_2_pour_liquid.yaml +++ b/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 diff --git a/dataset_info/AI2_Alphabot_2_pour_mung_beans.yaml b/dataset_info/AI2_Alphabot_2_pour_mung_beans.yaml index 31056d493f054091dc077e73099e88a5720adf41..0427501f5fa66d5528ac92eb4e3b0ff11110fc98 100644 --- a/dataset_info/AI2_Alphabot_2_pour_mung_beans.yaml +++ b/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: diff --git a/dataset_info/AI2_Alphabot_2_pour_water.yaml b/dataset_info/AI2_Alphabot_2_pour_water.yaml index 7680cab1cb747c6f8506529b686919c5aba3d3f7..e17cf7d4850a949a4e21809bbc2dcf3b35c4339b 100644 --- a/dataset_info/AI2_Alphabot_2_pour_water.yaml +++ b/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 diff --git a/dataset_info/AI2_Alphabot_2_shake_beaker.yaml b/dataset_info/AI2_Alphabot_2_shake_beaker.yaml index 705afb3ece351e1e28ef98080b59cd829dc2f0e1..15c0a7fb25a82098d20f782e3a6aaa27972d0a5e 100644 --- a/dataset_info/AI2_Alphabot_2_shake_beaker.yaml +++ b/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 diff --git a/dataset_info/AI2_Alphabot_2_shake_bottle.yaml b/dataset_info/AI2_Alphabot_2_shake_bottle.yaml index 1d650fdbba590f121562fb306ef210bf1846d72a..207a521b0b9f0407bacab745555847cbe3b79bb9 100644 --- a/dataset_info/AI2_Alphabot_2_shake_bottle.yaml +++ b/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 diff --git a/dataset_info/AI2_Alphabot_2_shake_test_tube.yaml b/dataset_info/AI2_Alphabot_2_shake_test_tube.yaml index 147a2b4e2f91eb9d532ef2c19a896116c4f112eb..4e8c582b499f8c74f1c2718526a552617e7d3b9e 100644 --- a/dataset_info/AI2_Alphabot_2_shake_test_tube.yaml +++ b/dataset_info/AI2_Alphabot_2_shake_test_tube.yaml @@ -21,10 +21,10 @@ extra_gated_fields: description: e.g., "Germany", "China", "United States" codebase_version: v2.1 dataset_name: AI2_Alphabot_2_shake_test_tube -dataset_uuid: 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 diff --git a/dataset_info/AI2_Alphabot_2_shake_test_tube_1.yaml b/dataset_info/AI2_Alphabot_2_shake_test_tube_1.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99148ec7d73d86d39a7eeff1cfe41c8ee074f9a4 --- /dev/null +++ b/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 diff --git a/dataset_info/AI2_Alphabot_2_sort_angle_iron.yaml b/dataset_info/AI2_Alphabot_2_sort_angle_iron.yaml index 86d926c933c4c39518ac466c249e166d1112eefa..b68f2944b6c4f43c40ae9bffd5dfff93abd480c0 100644 --- a/dataset_info/AI2_Alphabot_2_sort_angle_iron.yaml +++ b/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 diff --git a/dataset_info/AI2_Alphabot_2_sort_garbage_bag_and_box.yaml b/dataset_info/AI2_Alphabot_2_sort_garbage_bag_and_box.yaml index 24e6de1861d2afaf14416679cd06e996322664d6..6f85f83e69d563782234002b7af1266ccbd35528 100644 --- a/dataset_info/AI2_Alphabot_2_sort_garbage_bag_and_box.yaml +++ b/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 diff --git a/dataset_info/AI2_Alphabot_2_sort_personal_care_items.yaml b/dataset_info/AI2_Alphabot_2_sort_personal_care_items.yaml index 6cc85ec7afb5cc422bb7e11299f99acab4534b5e..ebc7fd2bee849cba22d0c505f896324c72633a55 100644 --- a/dataset_info/AI2_Alphabot_2_sort_personal_care_items.yaml +++ b/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 diff --git a/dataset_info/AI2_Alphabot_2_sort_utensils.yaml b/dataset_info/AI2_Alphabot_2_sort_utensils.yaml index 271d76f3249484e4823e49cd688adf647842d49c..4fa60221ef04dc8aa7dbc8f00c137d454529a415 100644 --- a/dataset_info/AI2_Alphabot_2_sort_utensils.yaml +++ b/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: diff --git a/dataset_info/AI2_Alphabot_2_sort_warehouse.yaml b/dataset_info/AI2_Alphabot_2_sort_warehouse.yaml index d164a7a23c80b5ac76631980977bf0f438ab2c3f..61f91ef12b890dece44ca5b2e7e8216214778914 100644 --- a/dataset_info/AI2_Alphabot_2_sort_warehouse.yaml +++ b/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 diff --git a/dataset_info/AI2_Alphabot_2_stack_blocks.yaml b/dataset_info/AI2_Alphabot_2_stack_blocks.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5a1464442ace58265b293c22cc89b81574284680 --- /dev/null +++ b/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 diff --git a/dataset_info/AI2_Alphabot_2_stack_cups.yaml b/dataset_info/AI2_Alphabot_2_stack_cups.yaml index 174a1d9423cff6bde9582118ebaaa166404ae644..23b778d3896cb488c80036a5903bdc1f83be8635 100644 --- a/dataset_info/AI2_Alphabot_2_stack_cups.yaml +++ b/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 diff --git a/dataset_info/AI2_Alphabot_2_stamp_document.yaml b/dataset_info/AI2_Alphabot_2_stamp_document.yaml index 51c52d92b88fa7a2d3c967888cbfd27c783c87f5..ac81dcbbecb1e61af6aa8b484f6ce345a11540f2 100644 --- a/dataset_info/AI2_Alphabot_2_stamp_document.yaml +++ b/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 diff --git a/dataset_info/AI2_Alphabot_2_stir_spoon.yaml b/dataset_info/AI2_Alphabot_2_stir_spoon.yaml index a1ec442ebfba6e8fbe16f5c2d9304677aac312db..3f16ba502fb4d0a67a15f8bb4dc32afc2917965d 100644 --- a/dataset_info/AI2_Alphabot_2_stir_spoon.yaml +++ b/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 diff --git a/dataset_info/AI2_Alphabot_2_stir_water.yaml b/dataset_info/AI2_Alphabot_2_stir_water.yaml index ca15f134f8b53513d568f78cc68d0efad330e78c..5b7bf02587180c5c092a258438cc54e749da6ad1 100644 --- a/dataset_info/AI2_Alphabot_2_stir_water.yaml +++ b/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 diff --git a/dataset_info/AI2_Alphabot_2_store_toys.yaml b/dataset_info/AI2_Alphabot_2_store_toys.yaml index 7601f6be20535ed5a78632af7fa82f62e7e6a086..1178304cb95a5b6187a378fb363887187234016b 100644 --- a/dataset_info/AI2_Alphabot_2_store_toys.yaml +++ b/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 diff --git a/dataset_info/AI2_Alphabot_2_store_toys_1.yaml b/dataset_info/AI2_Alphabot_2_store_toys_1.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9576d2026ee1b15512359b12e50e10c520d82ac4 --- /dev/null +++ b/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 diff --git a/dataset_info/AI2_Alphabot_2_store_toys_2.yaml b/dataset_info/AI2_Alphabot_2_store_toys_2.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4c435becf128c05e82fc279d05de8956d8f7a288 --- /dev/null +++ b/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 diff --git a/dataset_info/AI2_Alphabot_2_store_toys_3.yaml b/dataset_info/AI2_Alphabot_2_store_toys_3.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f5ddd76b4392ba2ed13f15bedd312d519acc0b9a --- /dev/null +++ b/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 diff --git a/dataset_info/AI2_Alphabot_2_store_toys_4.yaml b/dataset_info/AI2_Alphabot_2_store_toys_4.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2a3dd8ac08403408c4332ae05cd25f5fafb02dbe --- /dev/null +++ b/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 diff --git a/dataset_info/AI2_Alphabot_2_store_toys_5.yaml b/dataset_info/AI2_Alphabot_2_store_toys_5.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d3a9929fce89bed8adc7dc543f7f41d410c9a444 --- /dev/null +++ b/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 diff --git a/dataset_info/AI2_Alphabot_2_test_data_cable.yaml b/dataset_info/AI2_Alphabot_2_test_data_cable.yaml index 7cfe983cb801bd53dfcecc0a9637c701071e2d76..9ab39f4deacf37fc12cfb35a5146adbf7f5204ff 100644 --- a/dataset_info/AI2_Alphabot_2_test_data_cable.yaml +++ b/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 diff --git a/dataset_info/AI2_Alphabot_2_test_electricity.yaml b/dataset_info/AI2_Alphabot_2_test_electricity.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20fb5f4447b9e5773e81c10ca22fad0456292433 --- /dev/null +++ b/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 diff --git a/dataset_info/AI2_Alphabot_2_tidy_countertop.yaml b/dataset_info/AI2_Alphabot_2_tidy_countertop.yaml index 705cf8828d9c632ddc947fce9fbcb8d4d7a3fe35..c886810949a271f5296364c8efa449b5a5df6a52 100644 --- a/dataset_info/AI2_Alphabot_2_tidy_countertop.yaml +++ b/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: diff --git a/dataset_info/AI2_Alphabot_2_unplug_data_cable.yaml b/dataset_info/AI2_Alphabot_2_unplug_data_cable.yaml index e961b6df5a4dce9ce6e813d9c64497e907dc20fd..c5ebf7958e8e1d1e500c8b180459d99967427a1e 100644 --- a/dataset_info/AI2_Alphabot_2_unplug_data_cable.yaml +++ b/dataset_info/AI2_Alphabot_2_unplug_data_cable.yaml @@ -38,6 +38,7 @@ task_operation_type: fixed_dual_arm task_instruction: &id001 - Use the right hand to pick up the multi-port USB hub; use the left hand to unplug 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: 371680 frame_range: 1M dataset_size: 7.08 GB -data_structure: "AI2_Alphabot_2_unplug_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| `-- ...\ - \ (920 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_unplug_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 + + | `-- ... (920 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: 0:931 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 diff --git a/dataset_info/AI2_Alphabot_2_write_text.yaml b/dataset_info/AI2_Alphabot_2_write_text.yaml index 714717d36c9f5f99c832d0baf5211026a659d576..456a04e7978a3f52db23ffcc5c7d5dec10e6aec0 100644 --- a/dataset_info/AI2_Alphabot_2_write_text.yaml +++ b/dataset_info/AI2_Alphabot_2_write_text.yaml @@ -157,7 +157,9 @@ data_structure: 'AI2_Alphabot_2_write_text_0_qced_hardlink/ | `-- observation.images.cam_right_wrist_rgb - `-- info.yaml' + |-- info.yaml + + `-- README.md' splits: train: 0:403 features: diff --git a/dataset_info/Galbot_G1_fold_clothes.yaml b/dataset_info/Galbot_G1_fold_clothes.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3a01a8cbcff44bf1efd3e43c9f793cca19d50b6a --- /dev/null +++ b/dataset_info/Galbot_G1_fold_clothes.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: Galbot_G1_fold_clothes +dataset_uuid: c1e76759-8d67-4109-bda7-3d68ac0e20e1 +scene_type: + level1: Household + level2: Bedroom + level3: null + level4: null + level5: null +env_type: real_world +objects: +- object_name: table + color: white +- object_name: clothes + color: green +task_operation_type: fixed_dual_arm +task_instruction: fold and organize the clothes. +sub_tasks: +- fold and organize the clothes. +atomic_actions: +- grasp +- place +- fold +robot_name: Galbot_G1 +end_effector_type: two_finger_end_effector +tele_type: master_arm +sensor_list: +- cam_front_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_front_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=368x640x3, resolution=640x368, codec=h264, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=368x640x3, resolution=640x368, 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: 593 + total_frames: 520473 + fps: 30 + total_tasks: 1 + total_videos: 1779 + total_chunks: 1 + chunks_size: 1000 + state_dim: 21 + action_dim: 16 + camera_views: 3 + dataset_size: 8.22 GB +frame_num: 520473 +frame_range: 1M +dataset_size: 8.22 GB +data_structure: 'Galbot_G1_fold_clothes_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 + + | `-- ... (581 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:592 +features: + 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: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + 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: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + 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: + - 21 + names: + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - head_joint_1_rad + - head_joint_2_rad + - 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_gripper_open + - 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_gripper_open + action: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + 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_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Galbot_G1_fold_clothes_1.yaml b/dataset_info/Galbot_G1_fold_clothes_1.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b28cf9e6f4d249944064022e289506f14121f1b5 --- /dev/null +++ b/dataset_info/Galbot_G1_fold_clothes_1.yaml @@ -0,0 +1,383 @@ +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: Galbot_G1_fold_clothes_1 +dataset_uuid: 00000000-0000-0000-0000-000000000000 +scene_type: + level1: Household + level2: Bedroom + level3: null + level4: null + level5: null +env_type: real_world +objects: +- object_name: table + color: white +- object_name: clothes + color: gray +task_operation_type: fixed_dual_arm +task_instruction: fold and organize the clothes. +sub_tasks: +- fold and organize the clothes. +atomic_actions: +- grasp +- place +- fold +robot_name: Galbot_G1 +end_effector_type: two_finger_end_effector +tele_type: master_arm +sensor_list: +- cam_front_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_front_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=368x640x3, resolution=640x368, codec=h264, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=368x640x3, resolution=640x368, 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: 581 + total_frames: 536843 + fps: 30 + total_tasks: 1 + total_videos: 1743 + total_chunks: 1 + chunks_size: 1000 + state_dim: 21 + action_dim: 16 + camera_views: 3 + dataset_size: 8.31 GB +frame_num: 536843 +frame_range: 1M +dataset_size: 8.31 GB +data_structure: "Galbot_G1_fold_clothes_1_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| `-- ... (569 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_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" +splits: + train: 0:580 +features: + 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: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + 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: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + 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: + - 21 + names: + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - head_joint_1_rad + - head_joint_2_rad + - 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_gripper_open + - 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_gripper_open + action: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + 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_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Galbot_G1_steamer_storage_baozi.yaml b/dataset_info/Galbot_G1_steamer_storage_baozi.yaml new file mode 100644 index 0000000000000000000000000000000000000000..472f80df2d51c1168ec2b4bd06df2d710c0e7926 --- /dev/null +++ b/dataset_info/Galbot_G1_steamer_storage_baozi.yaml @@ -0,0 +1,443 @@ +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: Galbot_G1_steamer_storage_baozi +dataset_uuid: 5fa48a45-ebfc-4a84-9de3-3f25e71ab88e +scene_type: + level1: Household + level2: Kitchen + level3: null + level4: null + level5: null +env_type: real_world +objects: +- object_name: table + color: white +- object_name: baozi + color: white +- object_name: steamer + color: silver +- object_name: pot_lid + color: silver +- object_name: plate + color: white +task_operation_type: fixed_dual_arm +task_instruction: take steamed baozi put them in steamer then cover it. +sub_tasks: +- take steamed baozi put them in steamer then cover it. +atomic_actions: +- grasp +- place +robot_name: Galbot_G1 +end_effector_type: two_finger_end_effector +tele_type: master_arm +sensor_list: +- cam_front_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_front_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=368x640x3, resolution=640x368, codec=h264, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=368x640x3, resolution=640x368, 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: 228 + total_frames: 270556 + fps: 30 + total_tasks: 1 + total_videos: 684 + total_chunks: 1 + chunks_size: 1000 + state_dim: 21 + action_dim: 16 + camera_views: 3 + dataset_size: 2.48 GB +frame_num: 270556 +frame_range: 1M +dataset_size: 2.48 GB +data_structure: 'Galbot_G1_steamer_storage_baozi_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 + + | `-- ... (216 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:227 +features: + 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: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + 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: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + 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: + - 21 + names: + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - head_joint_1_rad + - head_joint_2_rad + - 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_gripper_open + - 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_gripper_open + action: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + 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_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Galbot_G1_use_dryer.yaml b/dataset_info/Galbot_G1_use_dryer.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1605dd5c3ad892249b8714e1e676dc2eb05c8c84 --- /dev/null +++ b/dataset_info/Galbot_G1_use_dryer.yaml @@ -0,0 +1,437 @@ +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: Galbot_G1_use_dryer +dataset_uuid: f883a8b7-5dcd-4c73-b49b-241fbaca876c +scene_type: + level1: Household + level2: Balcony + level3: null + level4: null + level5: null +env_type: real_world +objects: +- object_name: dryer + color: brown +- object_name: clothes + color: black +task_operation_type: fixed_dual_arm +task_instruction: Grasp the clothes from the dryer. +sub_tasks: +- Grasp the clothes from the dryer. +atomic_actions: +- grasp +- move +robot_name: Galbot_G1 +end_effector_type: two_finger_end_effector +tele_type: master_arm +sensor_list: +- cam_front_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_front_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=368x640x3, resolution=640x368, codec=h264, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=368x640x3, resolution=640x368, 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: 952 + total_frames: 450316 + fps: 30 + total_tasks: 1 + total_videos: 2856 + total_chunks: 1 + chunks_size: 1000 + state_dim: 21 + action_dim: 16 + camera_views: 3 + dataset_size: 6.36 GB +frame_num: 450316 +frame_range: 1M +dataset_size: 6.36 GB +data_structure: 'Galbot_G1_use_dryer_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 + + | `-- ... (940 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:951 +features: + 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: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + 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: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + 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: + - 21 + names: + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - head_joint_1_rad + - head_joint_2_rad + - 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_gripper_open + - 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_gripper_open + action: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + 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_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Galbot_G1_use_dryer_1.yaml b/dataset_info/Galbot_G1_use_dryer_1.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1af6ce6a85d1a70c5397c191ecabdf9342dbc4b6 --- /dev/null +++ b/dataset_info/Galbot_G1_use_dryer_1.yaml @@ -0,0 +1,382 @@ +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: Galbot_G1_use_dryer_1 +dataset_uuid: 98b5abbb-ab9a-47cf-aee8-c2320bda14da +scene_type: + level1: Household + level2: Balcony + level3: null + level4: null + level5: null +env_type: real_world +objects: +- object_name: dryer + color: brown +- object_name: clothes + color: white +task_operation_type: fixed_dual_arm +task_instruction: Grasp the clothes from the dryer. +sub_tasks: +- Grasp the clothes from the dryer. +atomic_actions: +- grasp +- move +robot_name: Galbot_G1 +end_effector_type: two_finger_end_effector +tele_type: master_arm +sensor_list: +- cam_front_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_front_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=368x640x3, resolution=640x368, codec=h264, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=368x640x3, resolution=640x368, 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: 620 + total_frames: 242533 + fps: 30 + total_tasks: 1 + total_videos: 1860 + total_chunks: 1 + chunks_size: 1000 + state_dim: 21 + action_dim: 16 + camera_views: 3 + dataset_size: 3.30 GB +frame_num: 242533 +frame_range: 1M +dataset_size: 3.30 GB +data_structure: "Galbot_G1_use_dryer_1_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\ + | `-- ... (608 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_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ + \ `-- observation.images.cam_right_wrist_rgb" +splits: + train: 0:619 +features: + 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: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + 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: + - 368 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 368 + 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: + - 21 + names: + - torso_joint_1_rad + - torso_joint_2_rad + - torso_joint_3_rad + - head_joint_1_rad + - head_joint_2_rad + - 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_gripper_open + - 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_gripper_open + action: + dtype: float32 + shape: + - 16 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_gripper_open + - right_gripper_open + 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 + 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_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Leju_Kuavo_4_box_storage_parcel.yaml b/dataset_info/Leju_Kuavo_4_box_storage_parcel.yaml index 73a24ee5ab3899a47f73501e421d0d49641f2f0e..4c479f4d2bfa54e6469a66a5cdca9e7cac08362a 100644 --- a/dataset_info/Leju_Kuavo_4_box_storage_parcel.yaml +++ b/dataset_info/Leju_Kuavo_4_box_storage_parcel.yaml @@ -150,7 +150,9 @@ data_structure: 'Leju_Kuavo_4_box_storage_parcel_0_qced_hardlink/ | `-- observation.images.cam_right_wrist_rgb - `-- info.yaml' + |-- info.yaml + + `-- README.md' splits: train: 0:310 features: diff --git a/dataset_info/Leju_Kuavo_4_box_storage_parcel_1.yaml b/dataset_info/Leju_Kuavo_4_box_storage_parcel_1.yaml index e340c336fbb478eee32512a40204063bdd1e2e00..bd18fcd8fce48a7fbb81f8abf9064cb69310f888 100644 --- a/dataset_info/Leju_Kuavo_4_box_storage_parcel_1.yaml +++ b/dataset_info/Leju_Kuavo_4_box_storage_parcel_1.yaml @@ -150,7 +150,9 @@ data_structure: 'Leju_Kuavo_4_box_storage_parcel_1_qced_hardlink/ | `-- observation.images.cam_right_wrist_rgb - `-- info.yaml' + |-- info.yaml + + `-- README.md' splits: train: 0:192 features: diff --git a/dataset_info/Leju_Kuavo_4_box_storage_parcel_10.yaml b/dataset_info/Leju_Kuavo_4_box_storage_parcel_10.yaml index b4536805963d5ba3587ca4aa5537f95c2a3756ad..688b9dae9e4868be7b738ae4ac30f03e82e7f0c3 100644 --- a/dataset_info/Leju_Kuavo_4_box_storage_parcel_10.yaml +++ b/dataset_info/Leju_Kuavo_4_box_storage_parcel_10.yaml @@ -150,7 +150,9 @@ data_structure: 'Leju_Kuavo_4_box_storage_parcel_10_qced_hardlink/ | `-- observation.images.cam_right_wrist_rgb - `-- info.yaml' + |-- info.yaml + + `-- README.md' splits: train: 0:198 features: diff --git a/dataset_info/Leju_Kuavo_4_box_storage_parcel_11.yaml b/dataset_info/Leju_Kuavo_4_box_storage_parcel_11.yaml index 2a2c1e0042eb052675d48f1fbbb84466a84dd403..d9bf2f242414b69b3c9e0d5692af1b903a9d8ed9 100644 --- a/dataset_info/Leju_Kuavo_4_box_storage_parcel_11.yaml +++ b/dataset_info/Leju_Kuavo_4_box_storage_parcel_11.yaml @@ -150,7 +150,9 @@ data_structure: 'Leju_Kuavo_4_box_storage_parcel_11_qced_hardlink/ | `-- observation.images.cam_right_wrist_rgb - `-- info.yaml' + |-- info.yaml + + `-- README.md' splits: train: 0:93 features: diff --git a/dataset_info/Leju_Kuavo_4_box_storage_parcel_2.yaml b/dataset_info/Leju_Kuavo_4_box_storage_parcel_2.yaml index 7acf736cd5a3d1dfbfa38de19011e48f3967ec89..6c77eccac5b43f09bc9199271a60d58850bf8495 100644 --- a/dataset_info/Leju_Kuavo_4_box_storage_parcel_2.yaml +++ b/dataset_info/Leju_Kuavo_4_box_storage_parcel_2.yaml @@ -150,7 +150,11 @@ data_structure: 'Leju_Kuavo_4_box_storage_parcel_2_qced_hardlink/ | `-- observation.images.cam_right_wrist_rgb - `-- info.yaml' + |-- depth_conversion_progress.json + + |-- info.yaml + + `-- README.md' splits: train: 0:198 features: diff --git a/dataset_info/Leju_Kuavo_4_box_storage_parcel_3.yaml b/dataset_info/Leju_Kuavo_4_box_storage_parcel_3.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a66ec87a43841e284df63d4345a80e097f6276b9 --- /dev/null +++ b/dataset_info/Leju_Kuavo_4_box_storage_parcel_3.yaml @@ -0,0 +1,465 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Leju_Kuavo_4_box_storage_parcel_3 +dataset_uuid: b8648e13-03b6-4289-b7b5-32fe39a9722c +scene_type: + level1: Logistics + level2: Sorting Center + level3: null + level4: null + level5: null +env_type: real_world +objects: +- object_name: table + color: null +- object_name: parcel + color: null +- object_name: conveyor_belt + color: null +- object_name: box + color: null +task_operation_type: fixed_dual_arm +task_instruction: &id001 +- moved the parcel from conveyor to table for the left to box. +sub_tasks: *id001 +atomic_actions: +- grasp +- pick +- place +robot_name: Leju_Kuavo_4 +end_effector_type: two_finger_end_effector +tele_type: vr_controller +sensor_list: +- cam_front_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_front_head_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +statistics: + total_episodes: 180 + total_frames: 263404 + fps: 30 + total_tasks: 1 + total_videos: 540 + total_chunks: 1 + chunks_size: 1000 + state_dim: 52 + action_dim: 40 + camera_views: 3 + dataset_size: 7.42 GB +frame_num: 263404 +frame_range: 1M +dataset_size: 7.42 GB +data_structure: 'Leju_Kuavo_4_box_storage_parcel_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 + + | `-- ... (168 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:179 +features: + observation.images.cam_front_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 52 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 40 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + gripper_open_scale_state: + names: [] + dtype: float32 + shape: + - 1 + gripper_open_scale_action: + names: [] + dtype: float32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_front_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Leju_Kuavo_4_box_storage_parcel_4.yaml b/dataset_info/Leju_Kuavo_4_box_storage_parcel_4.yaml index 2cf29f09b11535cebbee4ea6aaf2c398fc4ceea5..84fbae6bc0ab9760d5ca121ba76f37bfd50ae0af 100644 --- a/dataset_info/Leju_Kuavo_4_box_storage_parcel_4.yaml +++ b/dataset_info/Leju_Kuavo_4_box_storage_parcel_4.yaml @@ -150,7 +150,9 @@ data_structure: 'Leju_Kuavo_4_box_storage_parcel_4_qced_hardlink/ | `-- observation.images.cam_right_wrist_rgb - `-- info.yaml' + |-- info.yaml + + `-- README.md' splits: train: 0:469 features: diff --git a/dataset_info/Leju_Kuavo_4_box_storage_parcel_5.yaml b/dataset_info/Leju_Kuavo_4_box_storage_parcel_5.yaml index c10392c0f1fd7116f3519f7410d8e592303eb541..209ef61f5cb61069ee44714cd444c23ba7ccf769 100644 --- a/dataset_info/Leju_Kuavo_4_box_storage_parcel_5.yaml +++ b/dataset_info/Leju_Kuavo_4_box_storage_parcel_5.yaml @@ -150,7 +150,9 @@ data_structure: 'Leju_Kuavo_4_box_storage_parcel_5_qced_hardlink/ | `-- observation.images.cam_right_wrist_rgb - `-- info.yaml' + |-- info.yaml + + `-- README.md' splits: train: 0:182 features: diff --git a/dataset_info/Leju_Kuavo_4_box_storage_parcel_6.yaml b/dataset_info/Leju_Kuavo_4_box_storage_parcel_6.yaml new file mode 100644 index 0000000000000000000000000000000000000000..14b5c04c0bc7c59bd5ace475a7df511cf775e6b1 --- /dev/null +++ b/dataset_info/Leju_Kuavo_4_box_storage_parcel_6.yaml @@ -0,0 +1,467 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Leju_Kuavo_4_box_storage_parcel_6 +dataset_uuid: 4e3f5ee5-b924-4515-b0ec-3b0ba53fc1cf +scene_type: + level1: Logistics + level2: Sorting Center + level3: null + level4: null + level5: null +env_type: real_world +objects: +- object_name: table + color: null +- object_name: parcel + color: null +- object_name: conveyor_belt + color: null +- object_name: box + color: null +task_operation_type: fixed_dual_arm +task_instruction: &id001 +- moved the parcel from conveyor to table for the left to box. +sub_tasks: *id001 +atomic_actions: +- grasp +- pick +- place +robot_name: Leju_Kuavo_4 +end_effector_type: two_finger_end_effector +tele_type: vr_controller +sensor_list: +- cam_front_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_front_head_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +statistics: + total_episodes: 473 + total_frames: 179327 + fps: 30 + total_tasks: 1 + total_videos: 1419 + total_chunks: 1 + chunks_size: 1000 + state_dim: 52 + action_dim: 40 + camera_views: 3 + dataset_size: 4.04 GB +frame_num: 179327 +frame_range: 1M +dataset_size: 4.04 GB +data_structure: 'Leju_Kuavo_4_box_storage_parcel_6_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | `-- gripper_mode_annotation.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (461 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- depth_conversion_progress.json + + |-- info.yaml + + `-- README.md' +splits: + train: 0:472 +features: + observation.images.cam_front_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 52 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 40 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + gripper_open_scale_state: + names: [] + dtype: float32 + shape: + - 1 + gripper_open_scale_action: + names: [] + dtype: float32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_front_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Leju_Kuavo_4_box_storage_parcel_7.yaml b/dataset_info/Leju_Kuavo_4_box_storage_parcel_7.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d313647040ae239247ab102296cafa8f1db418a7 --- /dev/null +++ b/dataset_info/Leju_Kuavo_4_box_storage_parcel_7.yaml @@ -0,0 +1,465 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Leju_Kuavo_4_box_storage_parcel_7 +dataset_uuid: 1b0bc38d-2108-443c-85db-018590548a25 +scene_type: + level1: Logistics + level2: Sorting Center + level3: null + level4: null + level5: null +env_type: real_world +objects: +- object_name: table + color: null +- object_name: parcel + color: null +- object_name: conveyor_belt + color: null +- object_name: box + color: null +task_operation_type: fixed_dual_arm +task_instruction: &id001 +- moved the parcel from conveyor to table for the left to box. +sub_tasks: *id001 +atomic_actions: +- grasp +- pick +- place +robot_name: Leju_Kuavo_4 +end_effector_type: two_finger_end_effector +tele_type: vr_controller +sensor_list: +- cam_front_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_front_head_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +statistics: + total_episodes: 182 + total_frames: 254876 + fps: 30 + total_tasks: 1 + total_videos: 546 + total_chunks: 1 + chunks_size: 1000 + state_dim: 52 + action_dim: 40 + camera_views: 3 + dataset_size: 7.30 GB +frame_num: 254876 +frame_range: 1M +dataset_size: 7.30 GB +data_structure: 'Leju_Kuavo_4_box_storage_parcel_7_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | `-- gripper_mode_annotation.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (170 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:181 +features: + observation.images.cam_front_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 52 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 40 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + gripper_open_scale_state: + names: [] + dtype: float32 + shape: + - 1 + gripper_open_scale_action: + names: [] + dtype: float32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_front_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Leju_Kuavo_4_box_storage_parcel_8.yaml b/dataset_info/Leju_Kuavo_4_box_storage_parcel_8.yaml index 0d1f8d9e8dc02df2ae622ffed5460a81ed72004d..f4addfbbbcc543844bf9f494a28eef2128246a1e 100644 --- a/dataset_info/Leju_Kuavo_4_box_storage_parcel_8.yaml +++ b/dataset_info/Leju_Kuavo_4_box_storage_parcel_8.yaml @@ -150,7 +150,9 @@ data_structure: 'Leju_Kuavo_4_box_storage_parcel_8_qced_hardlink/ | `-- observation.images.cam_right_wrist_rgb - `-- info.yaml' + |-- info.yaml + + `-- README.md' splits: train: 0:179 features: diff --git a/dataset_info/Leju_Kuavo_4_box_storage_parcel_9.yaml b/dataset_info/Leju_Kuavo_4_box_storage_parcel_9.yaml index 8dfbf10866517eda87b23a51b454548adb88d101..99bbf45ae4c045974244bc25671ef7a470e40ebc 100644 --- a/dataset_info/Leju_Kuavo_4_box_storage_parcel_9.yaml +++ b/dataset_info/Leju_Kuavo_4_box_storage_parcel_9.yaml @@ -150,7 +150,9 @@ data_structure: 'Leju_Kuavo_4_box_storage_parcel_9_qced_hardlink/ | `-- observation.images.cam_right_wrist_rgb - `-- info.yaml' + |-- info.yaml + + `-- README.md' splits: train: 0:199 features: diff --git a/dataset_info/Leju_Kuavo_4_hotel_services.yaml b/dataset_info/Leju_Kuavo_4_hotel_services.yaml index c79fadc714b7236c85bc5060ced8c7510fefc25e..4514431448903414eb102c985665433b0edee7f8 100644 --- a/dataset_info/Leju_Kuavo_4_hotel_services.yaml +++ b/dataset_info/Leju_Kuavo_4_hotel_services.yaml @@ -150,7 +150,9 @@ data_structure: 'Leju_Kuavo_4_hotel_services_0_qced_hardlink/ | `-- observation.images.cam_right_wrist_rgb - `-- info.yaml' + |-- info.yaml + + `-- README.md' splits: train: 0:483 features: diff --git a/dataset_info/Leju_Kuavo_4_moving_parts.yaml b/dataset_info/Leju_Kuavo_4_moving_parts.yaml index ae8882465aa11b54a25d2911c6bc6333fcbb9c9b..8d42c4983216437d7add5025789b2a589fe2d500 100644 --- a/dataset_info/Leju_Kuavo_4_moving_parts.yaml +++ b/dataset_info/Leju_Kuavo_4_moving_parts.yaml @@ -148,7 +148,9 @@ data_structure: 'Leju_Kuavo_4_moving_parts_0_qced_hardlink/ | `-- observation.images.cam_right_wrist_rgb - `-- info.yaml' + |-- info.yaml + + `-- README.md' splits: train: 0:450 features: diff --git a/dataset_info/Leju_Kuavo_4_moving_parts_1.yaml b/dataset_info/Leju_Kuavo_4_moving_parts_1.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e5c9742e48315d6f2afb9687007a4af520f256d2 --- /dev/null +++ b/dataset_info/Leju_Kuavo_4_moving_parts_1.yaml @@ -0,0 +1,463 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Leju_Kuavo_4_moving_parts_1 +dataset_uuid: 579844fd-7df0-4684-b44a-aee4d40ca103 +scene_type: + level1: Industry + level2: Assembly Workshop + level3: null + level4: null + level5: null +env_type: real_world +objects: +- object_name: table + color: null +- object_name: cabinet + color: null +- object_name: parts + color: null +task_operation_type: fixed_dual_arm +task_instruction: &id001 +- take the parts from the cabinet and place them on the table. +sub_tasks: *id001 +atomic_actions: +- grasp +- place +- pick +robot_name: Leju_Kuavo_4 +end_effector_type: two_finger_end_effector +tele_type: vr_controller +sensor_list: +- cam_front_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_front_head_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +statistics: + total_episodes: 459 + total_frames: 693195 + fps: 30 + total_tasks: 1 + total_videos: 1377 + total_chunks: 1 + chunks_size: 1000 + state_dim: 52 + action_dim: 40 + camera_views: 3 + dataset_size: 19.17 GB +frame_num: 693195 +frame_range: 1M +dataset_size: 19.17 GB +data_structure: 'Leju_Kuavo_4_moving_parts_1_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | `-- gripper_mode_annotation.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (447 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:458 +features: + observation.images.cam_front_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 52 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 40 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + gripper_open_scale_state: + names: [] + dtype: float32 + shape: + - 1 + gripper_open_scale_action: + names: [] + dtype: float32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_front_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Leju_Kuavo_4_moving_parts_2.yaml b/dataset_info/Leju_Kuavo_4_moving_parts_2.yaml index c800e25f42347ff7035dc8ae533f513cab9c07b4..ace827d23a00a51d23b1e571b303e5d310f5f3fa 100644 --- a/dataset_info/Leju_Kuavo_4_moving_parts_2.yaml +++ b/dataset_info/Leju_Kuavo_4_moving_parts_2.yaml @@ -148,7 +148,9 @@ data_structure: 'Leju_Kuavo_4_moving_parts_2_qced_hardlink/ | `-- observation.images.cam_right_wrist_rgb - `-- info.yaml' + |-- info.yaml + + `-- README.md' splits: train: 0:456 features: diff --git a/dataset_info/Leju_Kuavo_4_moving_parts_3.yaml b/dataset_info/Leju_Kuavo_4_moving_parts_3.yaml index 26b0381df1347fde746e072a1b41a63d9cd42c7b..6eeb32bf58990bac5b6683e6f7722226bab1c84e 100644 --- a/dataset_info/Leju_Kuavo_4_moving_parts_3.yaml +++ b/dataset_info/Leju_Kuavo_4_moving_parts_3.yaml @@ -148,7 +148,9 @@ data_structure: 'Leju_Kuavo_4_moving_parts_3_qced_hardlink/ | `-- observation.images.cam_right_wrist_rgb - `-- info.yaml' + |-- info.yaml + + `-- README.md' splits: train: 0:458 features: diff --git a/dataset_info/Leju_Kuavo_4_sensor_card_swiping.yaml b/dataset_info/Leju_Kuavo_4_sensor_card_swiping.yaml index a86d1756b6c29d627657e01306942845fc4d52d1..7e56da7219fd7887f14071fbd2d25b2580f06fce 100644 --- a/dataset_info/Leju_Kuavo_4_sensor_card_swiping.yaml +++ b/dataset_info/Leju_Kuavo_4_sensor_card_swiping.yaml @@ -148,7 +148,9 @@ data_structure: 'Leju_Kuavo_4_sensor_card_swiping_0_qced_hardlink/ | `-- observation.images.cam_right_wrist_rgb - `-- info.yaml' + |-- info.yaml + + `-- README.md' splits: train: 0:597 features: diff --git a/dataset_info/Leju_Kuavo_4_sensor_card_swiping_1.yaml b/dataset_info/Leju_Kuavo_4_sensor_card_swiping_1.yaml index 8e45a20c7344a20550df044c3bd60beb2886cf4f..78c06c73cf872e3f62d64a306e5c27b6479fc1e4 100644 --- a/dataset_info/Leju_Kuavo_4_sensor_card_swiping_1.yaml +++ b/dataset_info/Leju_Kuavo_4_sensor_card_swiping_1.yaml @@ -148,7 +148,9 @@ data_structure: 'Leju_Kuavo_4_sensor_card_swiping_1_qced_hardlink/ | `-- observation.images.cam_right_wrist_rgb - `-- info.yaml' + |-- info.yaml + + `-- README.md' splits: train: 0:594 features: diff --git a/dataset_info/Leju_Kuavo_4_sensor_card_swiping_10.yaml b/dataset_info/Leju_Kuavo_4_sensor_card_swiping_10.yaml index 2c6087235bd4449324746ebd74f2373abdda1069..989ff9964001c100678dae03c52c74899cd98ebc 100644 --- a/dataset_info/Leju_Kuavo_4_sensor_card_swiping_10.yaml +++ b/dataset_info/Leju_Kuavo_4_sensor_card_swiping_10.yaml @@ -148,7 +148,9 @@ data_structure: 'Leju_Kuavo_4_sensor_card_swiping_10_qced_hardlink/ | `-- observation.images.cam_right_wrist_rgb - `-- info.yaml' + |-- info.yaml + + `-- README.md' splits: train: 0:587 features: diff --git a/dataset_info/Leju_Kuavo_4_sensor_card_swiping_11.yaml b/dataset_info/Leju_Kuavo_4_sensor_card_swiping_11.yaml index b6737ca24f9856670171e19b2d759c196e47f3fe..3f1b7a785ed67d7a4cea1d9a953d3c57c1942fd4 100644 --- a/dataset_info/Leju_Kuavo_4_sensor_card_swiping_11.yaml +++ b/dataset_info/Leju_Kuavo_4_sensor_card_swiping_11.yaml @@ -148,7 +148,9 @@ data_structure: 'Leju_Kuavo_4_sensor_card_swiping_11_qced_hardlink/ | `-- observation.images.cam_right_wrist_rgb - `-- info.yaml' + |-- info.yaml + + `-- README.md' splits: train: 0:599 features: diff --git a/dataset_info/Leju_Kuavo_4_sensor_card_swiping_12.yaml b/dataset_info/Leju_Kuavo_4_sensor_card_swiping_12.yaml index 1ea5253ee8685021ce29fbd8531583c2324f0a53..a443bf0ea13cc32ef35178e8e21e793625288201 100644 --- a/dataset_info/Leju_Kuavo_4_sensor_card_swiping_12.yaml +++ b/dataset_info/Leju_Kuavo_4_sensor_card_swiping_12.yaml @@ -148,7 +148,9 @@ data_structure: 'Leju_Kuavo_4_sensor_card_swiping_12_qced_hardlink/ | `-- observation.images.cam_right_wrist_rgb - `-- info.yaml' + |-- info.yaml + + `-- README.md' splits: train: 0:601 features: diff --git a/dataset_info/Leju_Kuavo_4_sensor_card_swiping_13.yaml b/dataset_info/Leju_Kuavo_4_sensor_card_swiping_13.yaml index 4b18212a772717841cf956910726083e10cc2796..ba8f3fa31abd3feb9e4e7ca69b0b73678fa3d4a6 100644 --- a/dataset_info/Leju_Kuavo_4_sensor_card_swiping_13.yaml +++ b/dataset_info/Leju_Kuavo_4_sensor_card_swiping_13.yaml @@ -148,7 +148,9 @@ data_structure: 'Leju_Kuavo_4_sensor_card_swiping_13_qced_hardlink/ | `-- observation.images.cam_right_wrist_rgb - `-- info.yaml' + |-- info.yaml + + `-- README.md' splits: train: 0:601 features: diff --git a/dataset_info/Leju_Kuavo_4_sensor_card_swiping_14.yaml b/dataset_info/Leju_Kuavo_4_sensor_card_swiping_14.yaml index 1fd1778730def0186cf225d6dbd260f513e4a537..6e11db3d85038961b30029c0c2ddcad58ef41d5f 100644 --- a/dataset_info/Leju_Kuavo_4_sensor_card_swiping_14.yaml +++ b/dataset_info/Leju_Kuavo_4_sensor_card_swiping_14.yaml @@ -148,7 +148,9 @@ data_structure: 'Leju_Kuavo_4_sensor_card_swiping_14_qced_hardlink/ | `-- observation.images.cam_right_wrist_rgb - `-- info.yaml' + |-- info.yaml + + `-- README.md' splits: train: 0:612 features: diff --git a/dataset_info/Leju_Kuavo_4_sensor_card_swiping_15.yaml b/dataset_info/Leju_Kuavo_4_sensor_card_swiping_15.yaml index f2a5219d53d1e924cd558986c8b4df8756deaac1..8ef2e6ed359282f2dd51b39006da3ae3677f2972 100644 --- a/dataset_info/Leju_Kuavo_4_sensor_card_swiping_15.yaml +++ b/dataset_info/Leju_Kuavo_4_sensor_card_swiping_15.yaml @@ -148,7 +148,9 @@ data_structure: 'Leju_Kuavo_4_sensor_card_swiping_15_qced_hardlink/ | `-- observation.images.cam_right_wrist_rgb - `-- info.yaml' + |-- info.yaml + + `-- README.md' splits: train: 0:604 features: diff --git a/dataset_info/Leju_Kuavo_4_sensor_card_swiping_16.yaml b/dataset_info/Leju_Kuavo_4_sensor_card_swiping_16.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6336ab601e2083cb6ec3dcc1069c7373e0ce7efc --- /dev/null +++ b/dataset_info/Leju_Kuavo_4_sensor_card_swiping_16.yaml @@ -0,0 +1,463 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Leju_Kuavo_4_sensor_card_swiping_16 +dataset_uuid: 17dbe736-c47d-4ba5-b4e0-8713d5c5ac52 +scene_type: + level1: Service + level2: Service Hall + level3: null + level4: null + level5: null +env_type: real_world +objects: +- object_name: table + color: null +- object_name: card + color: null +- object_name: sensor + color: null +task_operation_type: fixed_dual_arm +task_instruction: &id001 +- pass the card to the sensor for recognition and then transmit it. +sub_tasks: *id001 +atomic_actions: +- grasp +- pick +- place +robot_name: Leju_Kuavo_4 +end_effector_type: two_finger_end_effector +tele_type: vr_controller +sensor_list: +- cam_front_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_front_head_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +statistics: + total_episodes: 623 + total_frames: 442774 + fps: 30 + total_tasks: 1 + total_videos: 1869 + total_chunks: 1 + chunks_size: 1000 + state_dim: 52 + action_dim: 40 + camera_views: 3 + dataset_size: 13.09 GB +frame_num: 442774 +frame_range: 1M +dataset_size: 13.09 GB +data_structure: 'Leju_Kuavo_4_sensor_card_swiping_16_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 + + | `-- ... (611 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:622 +features: + observation.images.cam_front_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 52 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 40 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + gripper_open_scale_state: + names: [] + dtype: float32 + shape: + - 1 + gripper_open_scale_action: + names: [] + dtype: float32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_front_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Leju_Kuavo_4_sensor_card_swiping_17.yaml b/dataset_info/Leju_Kuavo_4_sensor_card_swiping_17.yaml index f1e83956abe713b8b77388b7beed870986acf37f..fd3380a4f2f5ba05c8a7e29b277112a038a64a07 100644 --- a/dataset_info/Leju_Kuavo_4_sensor_card_swiping_17.yaml +++ b/dataset_info/Leju_Kuavo_4_sensor_card_swiping_17.yaml @@ -148,7 +148,9 @@ data_structure: 'Leju_Kuavo_4_sensor_card_swiping_17_qced_hardlink/ | `-- observation.images.cam_right_wrist_rgb - `-- info.yaml' + |-- info.yaml + + `-- README.md' splits: train: 0:603 features: diff --git a/dataset_info/Leju_Kuavo_4_sensor_card_swiping_18.yaml b/dataset_info/Leju_Kuavo_4_sensor_card_swiping_18.yaml index e076f4a12babe39139a9671d15b348a5efb34d4b..1726ab7f81df5245324feaa4ec43d42b2717237d 100644 --- a/dataset_info/Leju_Kuavo_4_sensor_card_swiping_18.yaml +++ b/dataset_info/Leju_Kuavo_4_sensor_card_swiping_18.yaml @@ -148,7 +148,9 @@ data_structure: 'Leju_Kuavo_4_sensor_card_swiping_18_qced_hardlink/ | `-- observation.images.cam_right_wrist_rgb - `-- info.yaml' + |-- info.yaml + + `-- README.md' splits: train: 0:611 features: diff --git a/dataset_info/Leju_Kuavo_4_sensor_card_swiping_19.yaml b/dataset_info/Leju_Kuavo_4_sensor_card_swiping_19.yaml index 3f548064b07240b358b51b5d080af5b862618b56..37553333b8e2ad05e28fee58042ed8505d4e5d04 100644 --- a/dataset_info/Leju_Kuavo_4_sensor_card_swiping_19.yaml +++ b/dataset_info/Leju_Kuavo_4_sensor_card_swiping_19.yaml @@ -148,7 +148,9 @@ data_structure: 'Leju_Kuavo_4_sensor_card_swiping_19_qced_hardlink/ | `-- observation.images.cam_right_wrist_rgb - `-- info.yaml' + |-- info.yaml + + `-- README.md' splits: train: 0:206 features: diff --git a/dataset_info/Leju_Kuavo_4_sensor_card_swiping_2.yaml b/dataset_info/Leju_Kuavo_4_sensor_card_swiping_2.yaml index ec3b1ff8216206a078d4581069292d881feace40..3f2864a9e7470ae69ca8bbf1a4e01496cc38da29 100644 --- a/dataset_info/Leju_Kuavo_4_sensor_card_swiping_2.yaml +++ b/dataset_info/Leju_Kuavo_4_sensor_card_swiping_2.yaml @@ -148,7 +148,9 @@ data_structure: 'Leju_Kuavo_4_sensor_card_swiping_2_qced_hardlink/ | `-- observation.images.cam_right_wrist_rgb - `-- info.yaml' + |-- info.yaml + + `-- README.md' splits: train: 0:594 features: diff --git a/dataset_info/Leju_Kuavo_4_sensor_card_swiping_3.yaml b/dataset_info/Leju_Kuavo_4_sensor_card_swiping_3.yaml index ee904311e64c51105fb174c5406bfbdf1c749e87..bef7a108565e15cd10e23fb6b49d34465a77e427 100644 --- a/dataset_info/Leju_Kuavo_4_sensor_card_swiping_3.yaml +++ b/dataset_info/Leju_Kuavo_4_sensor_card_swiping_3.yaml @@ -148,7 +148,9 @@ data_structure: 'Leju_Kuavo_4_sensor_card_swiping_3_qced_hardlink/ | `-- observation.images.cam_right_wrist_rgb - `-- info.yaml' + |-- info.yaml + + `-- README.md' splits: train: 0:603 features: diff --git a/dataset_info/Leju_Kuavo_4_sensor_card_swiping_4.yaml b/dataset_info/Leju_Kuavo_4_sensor_card_swiping_4.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ed22f676c351253973c117c0cd8541bc41525b83 --- /dev/null +++ b/dataset_info/Leju_Kuavo_4_sensor_card_swiping_4.yaml @@ -0,0 +1,463 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Leju_Kuavo_4_sensor_card_swiping_4 +dataset_uuid: 0c6b82aa-9a10-4052-ba5c-cb68d4acc5ba +scene_type: + level1: Service + level2: Service Hall + level3: null + level4: null + level5: null +env_type: real_world +objects: +- object_name: table + color: null +- object_name: card + color: null +- object_name: sensor + color: null +task_operation_type: fixed_dual_arm +task_instruction: &id001 +- pass the card to the sensor for recognition and then transmit it. +sub_tasks: *id001 +atomic_actions: +- grasp +- pick +- place +robot_name: Leju_Kuavo_4 +end_effector_type: two_finger_end_effector +tele_type: vr_controller +sensor_list: +- cam_front_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_front_head_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x848x3, resolution=848x480, codec=h264, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +statistics: + total_episodes: 608 + total_frames: 426424 + fps: 30 + total_tasks: 1 + total_videos: 1824 + total_chunks: 1 + chunks_size: 1000 + state_dim: 52 + action_dim: 40 + camera_views: 3 + dataset_size: 12.55 GB +frame_num: 426424 +frame_range: 1M +dataset_size: 12.55 GB +data_structure: 'Leju_Kuavo_4_sensor_card_swiping_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 + + | `-- ... (596 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:607 +features: + observation.images.cam_front_head_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 848 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 848 + video.codec: h264 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 52 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 40 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_leg_joint_1_rad + - left_leg_joint_2_rad + - left_leg_joint_3_rad + - left_leg_joint_4_rad + - left_leg_joint_5_rad + - left_leg_joint_6_rad + - right_leg_joint_1_rad + - right_leg_joint_2_rad + - right_leg_joint_3_rad + - right_leg_joint_4_rad + - right_leg_joint_5_rad + - right_leg_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - head_joint_1_rad + - head_joint_2_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + gripper_open_scale_state: + names: [] + dtype: float32 + shape: + - 1 + gripper_open_scale_action: + names: [] + dtype: float32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_front_head_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Leju_Kuavo_4_sensor_card_swiping_5.yaml b/dataset_info/Leju_Kuavo_4_sensor_card_swiping_5.yaml index 5bded87d8b15a098b97c57122f5de119079fc81f..975eb1614374d6d3e4bef8e74824cd892819a59b 100644 --- a/dataset_info/Leju_Kuavo_4_sensor_card_swiping_5.yaml +++ b/dataset_info/Leju_Kuavo_4_sensor_card_swiping_5.yaml @@ -148,7 +148,9 @@ data_structure: 'Leju_Kuavo_4_sensor_card_swiping_5_qced_hardlink/ | `-- observation.images.cam_right_wrist_rgb - `-- info.yaml' + |-- info.yaml + + `-- README.md' splits: train: 0:607 features: diff --git a/dataset_info/Leju_Kuavo_4_sensor_card_swiping_6.yaml b/dataset_info/Leju_Kuavo_4_sensor_card_swiping_6.yaml index ec81fffd7065f810df6e959b94b36f2da5beeaa2..afffe30cdf2fc832488153778198c6de7649711a 100644 --- a/dataset_info/Leju_Kuavo_4_sensor_card_swiping_6.yaml +++ b/dataset_info/Leju_Kuavo_4_sensor_card_swiping_6.yaml @@ -148,7 +148,9 @@ data_structure: 'Leju_Kuavo_4_sensor_card_swiping_6_qced_hardlink/ | `-- observation.images.cam_right_wrist_rgb - `-- info.yaml' + |-- info.yaml + + `-- README.md' splits: train: 0:627 features: diff --git a/dataset_info/Leju_Kuavo_4_sensor_card_swiping_7.yaml b/dataset_info/Leju_Kuavo_4_sensor_card_swiping_7.yaml index 4da7da0dd1ccf140853e70a94b5a8afc1bbc83f0..f421d5b114b515541d4f3b448cb2f6db603ba432 100644 --- a/dataset_info/Leju_Kuavo_4_sensor_card_swiping_7.yaml +++ b/dataset_info/Leju_Kuavo_4_sensor_card_swiping_7.yaml @@ -148,7 +148,9 @@ data_structure: 'Leju_Kuavo_4_sensor_card_swiping_7_qced_hardlink/ | `-- observation.images.cam_right_wrist_rgb - `-- info.yaml' + |-- info.yaml + + `-- README.md' splits: train: 0:594 features: diff --git a/dataset_info/Leju_Kuavo_4_sensor_card_swiping_8.yaml b/dataset_info/Leju_Kuavo_4_sensor_card_swiping_8.yaml index ae069ac0c92990ded3b31d6b918b32efbebdb96b..1c40b35e86e06d01566025d5c2e086f35445ce1c 100644 --- a/dataset_info/Leju_Kuavo_4_sensor_card_swiping_8.yaml +++ b/dataset_info/Leju_Kuavo_4_sensor_card_swiping_8.yaml @@ -148,7 +148,9 @@ data_structure: 'Leju_Kuavo_4_sensor_card_swiping_8_qced_hardlink/ | `-- observation.images.cam_right_wrist_rgb - `-- info.yaml' + |-- info.yaml + + `-- README.md' splits: train: 0:614 features: diff --git a/dataset_info/Leju_Kuavo_4_sensor_card_swiping_9.yaml b/dataset_info/Leju_Kuavo_4_sensor_card_swiping_9.yaml index 2c62a4040c770fe83d81344656350a1a5e98df98..4a086f73d171cd0107ab98d4f225262d09e56236 100644 --- a/dataset_info/Leju_Kuavo_4_sensor_card_swiping_9.yaml +++ b/dataset_info/Leju_Kuavo_4_sensor_card_swiping_9.yaml @@ -148,7 +148,9 @@ data_structure: 'Leju_Kuavo_4_sensor_card_swiping_9_qced_hardlink/ | `-- observation.images.cam_right_wrist_rgb - `-- info.yaml' + |-- info.yaml + + `-- README.md' splits: train: 0:208 features: diff --git a/dataset_info/Unitree_G1edu-u3_place_bread.yaml b/dataset_info/Unitree_G1edu-u3_place_bread.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3bc0da032d3ecacda9fe0ab3e6794bb4fb4c4f38 --- /dev/null +++ b/dataset_info/Unitree_G1edu-u3_place_bread.yaml @@ -0,0 +1,467 @@ +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: Unitree_G1edu-u3_place_bread +dataset_uuid: 6513c992-9571-4fbb-8a3a-6da724b9fc6d +scene_type: + level1: Household + level2: Kitchen + level3: null + level4: null + level5: null +env_type: real_world +objects: +- id: long_bread + name: long bread + color: brown + anchor_policy: static +- id: round_plate + name: round plate + color: purple + anchor_policy: static +- id: table + name: table + color: white + anchor_policy: static +task_operation_type: fixed_single_arm +task_instruction: Grasp the bread from the table and place it into the plate. +sub_tasks: +- Grasp the bread from the table and place it into the plate. +atomic_actions: +- grasp +- place +robot_name: Unitree_G1edu-u3 +end_effector_type: three_finger_end_effector +tele_type: data_glove +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_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: 1464 + total_frames: 500679 + fps: 30 + total_tasks: 1 + total_videos: 4392 + total_chunks: 2 + chunks_size: 1000 + state_dim: 28 + action_dim: 28 + camera_views: 3 + dataset_size: 6.51 GB +frame_num: 500679 +frame_range: 1M +dataset_size: 6.51 GB +data_structure: 'Unitree_G1edu-u3_place_bread_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 + + | | `-- ... (988 more entries) + + | `-- chunk-001 + + | |-- episode_001000.parquet + + | |-- episode_001001.parquet + + | |-- episode_001002.parquet + + | |-- episode_001003.parquet + + | |-- episode_001004.parquet + + | |-- episode_001005.parquet + + | |-- episode_001006.parquet + + | |-- episode_001007.parquet + + | |-- episode_001008.parquet + + | |-- episode_001009.parquet + + | |-- episode_001010.parquet + + | `-- episode_001011.parquet + + | `-- ... (452 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | |-- chunk-000 + + | | |-- observation.images.cam_high_rgb + + | | |-- observation.images.cam_left_wrist_rgb + + | | `-- observation.images.cam_right_wrist_rgb + + | `-- chunk-001 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:1463 +features: + observation.images.cam_high_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: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + gripper_open_scale_state: + names: [] + dtype: float32 + shape: + - 1 + gripper_open_scale_action: + names: [] + dtype: float32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Unitree_G1edu-u3_place_bread_1.yaml b/dataset_info/Unitree_G1edu-u3_place_bread_1.yaml new file mode 100644 index 0000000000000000000000000000000000000000..91c46d9e8797b8dabc032724116f71a0d202d542 --- /dev/null +++ b/dataset_info/Unitree_G1edu-u3_place_bread_1.yaml @@ -0,0 +1,467 @@ +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: Unitree_G1edu-u3_place_bread_1 +dataset_uuid: b0e2cde0-1269-4edc-b8ab-6d41a4fcc93f +scene_type: + level1: Household + level2: Kitchen + level3: null + level4: null + level5: null +env_type: real_world +objects: +- id: long_bread + name: long bread + color: brown + anchor_policy: static +- id: round_plate + name: round plate + color: purple + anchor_policy: static +- id: table + name: table + color: white + anchor_policy: static +task_operation_type: fixed_single_arm +task_instruction: Grasp the bread from the table and place it into the plate. +sub_tasks: +- Grasp the bread from the table and place it into the plate. +atomic_actions: +- grasp +- place +robot_name: Unitree_G1edu-u3 +end_effector_type: three_finger_end_effector +tele_type: data_glove +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_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: 1042 + total_frames: 334156 + fps: 30 + total_tasks: 1 + total_videos: 3126 + total_chunks: 2 + chunks_size: 1000 + state_dim: 28 + action_dim: 28 + camera_views: 3 + dataset_size: 4.78 GB +frame_num: 334156 +frame_range: 1M +dataset_size: 4.78 GB +data_structure: 'Unitree_G1edu-u3_place_bread_1_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | `-- gripper_mode_annotation.jsonl + + |-- data + + | |-- chunk-000 + + | | |-- episode_000000.parquet + + | | |-- episode_000001.parquet + + | | |-- episode_000002.parquet + + | | |-- episode_000003.parquet + + | | |-- episode_000004.parquet + + | | |-- episode_000005.parquet + + | | |-- episode_000006.parquet + + | | |-- episode_000007.parquet + + | | |-- episode_000008.parquet + + | | |-- episode_000009.parquet + + | | |-- episode_000010.parquet + + | | `-- episode_000011.parquet + + | | `-- ... (988 more entries) + + | `-- chunk-001 + + | |-- episode_001000.parquet + + | |-- episode_001001.parquet + + | |-- episode_001002.parquet + + | |-- episode_001003.parquet + + | |-- episode_001004.parquet + + | |-- episode_001005.parquet + + | |-- episode_001006.parquet + + | |-- episode_001007.parquet + + | |-- episode_001008.parquet + + | |-- episode_001009.parquet + + | |-- episode_001010.parquet + + | `-- episode_001011.parquet + + | `-- ... (30 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | |-- chunk-000 + + | | |-- observation.images.cam_high_rgb + + | | |-- observation.images.cam_left_wrist_rgb + + | | `-- observation.images.cam_right_wrist_rgb + + | `-- chunk-001 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:1041 +features: + observation.images.cam_high_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: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + gripper_open_scale_state: + names: [] + dtype: float32 + shape: + - 1 + gripper_open_scale_action: + names: [] + dtype: float32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Unitree_G1edu-u3_place_grape_error.yaml b/dataset_info/Unitree_G1edu-u3_place_grape_error.yaml new file mode 100644 index 0000000000000000000000000000000000000000..171a0d988088bd81bbbb88ee7aaec57e75350ebf --- /dev/null +++ b/dataset_info/Unitree_G1edu-u3_place_grape_error.yaml @@ -0,0 +1,421 @@ +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: Unitree_G1edu-u3_place_grape_error +dataset_uuid: bfaa5664-6b1a-441b-bd19-8455eda4eecd +scene_type: + level1: Household + level2: Kitchen + level3: null + level4: null + level5: null +env_type: real_world +objects: +- id: grape + name: grape + color: purple + anchor_policy: static +- id: plastic_bowl + name: plastic bowl + color: white + anchor_policy: static +- id: table + name: table + color: green + anchor_policy: static +task_operation_type: fixed_single_arm +task_instruction: Grasp the grape from the table and place it into the basket. +sub_tasks: +- Grasp the grape from the table and place it into the basket. +atomic_actions: +- grasp +- place +robot_name: Unitree_G1edu-u3 +end_effector_type: '[''two_finger_end_effector'', ''five_finger_end_effector'']' +tele_type: human_motion_capture +sensor_list: +- cam_front_head +- cam_left_wrist +- cam_right_wrist +came_info: + cam_front_head: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, pix_fmt=yuv420p + cam_left_wrist: dtype=video, shape=480x640x3, resolution=640x480, codec=h264, pix_fmt=yuv420p + cam_right_wrist: 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: 43 + total_frames: 41278 + fps: 30 + total_tasks: 1 + total_videos: 129 + total_chunks: 1 + chunks_size: 1000 + state_dim: 28 + action_dim: 28 + camera_views: 3 + dataset_size: 835.85 MB +frame_num: 41278 +frame_range: 100K +dataset_size: 835.85 MB +data_structure: 'Unitree_G1edu-u3_place_grape_error_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 + + | `-- ... (31 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | |-- info.json.bak_20260714_1040 + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_head + + | |-- observation.images.cam_left_wrist + + | `-- observation.images.cam_right_wrist + + |-- info.yaml + + `-- README.md' +splits: + train: 0:42 +features: + observation.state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + observation.images.cam_front_head: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + 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: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + 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: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channel + 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 + 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 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_front_head/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_head/episode_000000.mp4 diff --git a/dataset_info/Unitree_G1edu-u3_place_towel.yaml b/dataset_info/Unitree_G1edu-u3_place_towel.yaml new file mode 100644 index 0000000000000000000000000000000000000000..cfa1654268647b36c967230214ec14342989fa7f --- /dev/null +++ b/dataset_info/Unitree_G1edu-u3_place_towel.yaml @@ -0,0 +1,433 @@ +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: Unitree_G1edu-u3_place_towel +dataset_uuid: f86256b7-3eed-45ab-9439-9dfc6931492a +scene_type: + level1: Household + level2: Kitchen + level3: null + level4: null + level5: null +env_type: real_world +objects: +- id: dish + name: dish + color: purple + anchor_policy: static +- id: towel + name: towel + color: yellow + anchor_policy: static +- id: table + name: table + color: white + anchor_policy: static +task_operation_type: fixed_single_arm +task_instruction: Grasp the towel on the left side of the plate with the left hand + and place it into the plate. +sub_tasks: +- Grasp the towel on the left side of the plate with the left hand and place it into + the plate. +atomic_actions: +- grasp +- place +robot_name: Unitree_G1edu-u3 +end_effector_type: three_finger_end_effector +tele_type: human_motion_capture +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_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: 402 + total_frames: 106275 + fps: 30 + total_tasks: 1 + total_videos: 1206 + total_chunks: 1 + chunks_size: 1000 + state_dim: 28 + action_dim: 28 + camera_views: 3 + dataset_size: 1.26 GB +frame_num: 106275 +frame_range: 1M +dataset_size: 1.26 GB +data_structure: 'Unitree_G1edu-u3_place_towel_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 + + | `-- ... (390 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:401 +features: + observation.images.cam_high_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: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + gripper_open_scale_state: + names: [] + dtype: float32 + shape: + - 1 + gripper_open_scale_action: + names: [] + dtype: float32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Unitree_G1edu-u3_pour_drink.yaml b/dataset_info/Unitree_G1edu-u3_pour_drink.yaml new file mode 100644 index 0000000000000000000000000000000000000000..925cf45f84c46d87ab60fcbbd5ace0aa8237e659 --- /dev/null +++ b/dataset_info/Unitree_G1edu-u3_pour_drink.yaml @@ -0,0 +1,414 @@ +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: Unitree_G1edu-u3_pour_drink +dataset_uuid: d7880e32-eb34-4938-b568-6a99c27a36ab +scene_type: + level1: Catering + level2: Milk Tea Shop + level3: null + level4: null + level5: null +env_type: real_world +objects: +- id: table + name: table + color: white + anchor_policy: static +- id: glass_cup + name: glass cup + color: transparent + anchor_policy: static +- id: bottled_beverages + name: bottled beverages + color: none + anchor_policy: static +task_operation_type: fixed_dual_arm +task_instruction: Grasp the cup under the faucet to collect the drink, then remove + the cup. +sub_tasks: +- Grasp the cup under the faucet to collect the drink, then remove the cup. +atomic_actions: +- grasp +- place +- press +- move +robot_name: Unitree_G1edu-u3 +end_effector_type: five_finger_end_effector +tele_type: human_motion_capture +sensor_list: +- cam_high_rgb +came_info: + cam_high_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: 1298 + total_frames: 967967 + fps: 30 + total_tasks: 1 + total_videos: 1298 + total_chunks: 2 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 1 + dataset_size: 5.20 GB +frame_num: 967967 +frame_range: 1M +dataset_size: 5.20 GB +data_structure: 'Unitree_G1edu-u3_pour_drink_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 + + | | `-- ... (988 more entries) + + | `-- chunk-001 + + | |-- episode_001000.parquet + + | |-- episode_001001.parquet + + | |-- episode_001002.parquet + + | |-- episode_001003.parquet + + | |-- episode_001004.parquet + + | |-- episode_001005.parquet + + | |-- episode_001006.parquet + + | |-- episode_001007.parquet + + | |-- episode_001008.parquet + + | |-- episode_001009.parquet + + | |-- episode_001010.parquet + + | `-- episode_001011.parquet + + | `-- ... (286 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | |-- chunk-000 + + | | `-- observation.images.cam_high_rgb + + | `-- chunk-001 + + | `-- observation.images.cam_high_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:1297 +features: + observation.images.cam_high_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: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + gripper_open_scale_state: + names: [] + dtype: float32 + shape: + - 1 + gripper_open_scale_action: + names: [] + dtype: float32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/info/AI2_Alphabot_2_frames.csv b/info/AI2_Alphabot_2_frames.csv new file mode 100644 index 0000000000000000000000000000000000000000..9029f2263a93da64f7a3538bb359b83373d943d4 --- /dev/null +++ b/info/AI2_Alphabot_2_frames.csv @@ -0,0 +1,60 @@ +rank,dataset_name,total_frames +1,AI2_Alphabot_2_insert_water_pipe,671854 +2,AI2_Alphabot_2_insert_hose_into_hole,667972 +3,AI2_Alphabot_2_place_pen,666384 +4,AI2_Alphabot_2_sort_garbage_bag_and_box,612124 +5,AI2_Alphabot_2_store_toys_5,471302 +6,AI2_Alphabot_2_sort_personal_care_items,455317 +7,AI2_Alphabot_2_sort_warehouse,434269 +8,AI2_Alphabot_2_insert_straw,404056 +9,AI2_Alphabot_2_package_fruit_2,384538 +10,AI2_Alphabot_2_unplug_data_cable,371680 +11,AI2_Alphabot_2_heat_test_tube,371481 +12,AI2_Alphabot_2_stamp_document,369702 +13,AI2_Alphabot_2_pick_stirring_rod,349882 +14,AI2_Alphabot_2_place_Tapes,348056 +15,AI2_Alphabot_2_tidy_countertop,343739 +16,AI2_Alphabot_2_clink_glasses,337932 +17,AI2_Alphabot_2_open_microwave,337551 +18,AI2_Alphabot_2_stir_spoon,334844 +19,AI2_Alphabot_2_shake_bottle,330992 +20,AI2_Alphabot_2_organize_cosmetics,329188 +21,AI2_Alphabot_2_organize_cosmetics_1,329188 +22,AI2_Alphabot_2_write_text,328988 +23,AI2_Alphabot_2_test_data_cable,326536 +24,AI2_Alphabot_2_stack_cups,324466 +25,AI2_Alphabot_2_organize_pencil_holder,323948 +26,AI2_Alphabot_2_arrange_teaset,318301 +27,AI2_Alphabot_2_shake_test_tube_1,313739 +28,AI2_Alphabot_2_pour_water,295245 +29,AI2_Alphabot_2_stir_water,284361 +30,AI2_Alphabot_2_sort_angle_iron,256772 +31,AI2_Alphabot_2_grind_ink,215722 +32,AI2_Alphabot_2_package_fruit,209718 +33,AI2_Alphabot_2_pour_mung_beans,181968 +34,AI2_Alphabot_2_store_toys,166579 +35,AI2_Alphabot_2_pick_test_tube,164885 +36,AI2_Alphabot_2_store_toys_2,152601 +37,AI2_Alphabot_2_pick_thermometer,146029 +38,AI2_Alphabot_2_stack_building_blocks,130049 +39,AI2_Alphabot_2_recover_after_touching_an_obstacle,128391 +40,AI2_Alphabot_2_brush_egg_wash,125085 +41,AI2_Alphabot_2_stack_blocks,122256 +42,AI2_Alphabot_2_sticker,97993 +43,AI2_Alphabot_2_press_the_button_a,91452 +44,AI2_Alphabot_2_organize_lab_equipment,88656 +45,AI2_Alphabot_2_item_reversal,82235 +46,AI2_Alphabot_2_sort_utensils,79817 +47,AI2_Alphabot_2_move_basket,78384 +48,AI2_Alphabot_2_store_toys_1,71384 +49,AI2_Alphabot_2_pass_the_sandbag,69956 +50,AI2_Alphabot_2_move_the_table,50897 +51,AI2_Alphabot_2_test_electricity,48108 +52,AI2_Alphabot_2_carry_the_clothes_basket,46527 +53,AI2_Alphabot_2_shake_beaker,43273 +54,AI2_Alphabot_2_pour_liquid,36748 +55,AI2_Alphabot_2_move_test_tube,33010 +56,AI2_Alphabot_2_shake_test_tube,29299 +57,AI2_Alphabot_2_press_the_button_b,26258 +58,AI2_Alphabot_2_operate_the_microwave_oven,16486 +,TOTAL,14428173 \ No newline at end of file diff --git a/info/consolidated_datasets.json b/info/consolidated_datasets.json index 6d29484764e169380396e3c84654e9d269525831..193c32b1b7ea661a21f1278eceb10f583283352f 100644 --- a/info/consolidated_datasets.json +++ b/info/consolidated_datasets.json @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:a6172319c8440c40f4cc500c6106c0e52781a4a06845ec5ea6b279f19f69a563 -size 12360407 +oid sha256:e51fec3048f4164407822e235d0d095a06f4c1c1914be225076ed496dcfb5c61 +size 12779163 diff --git a/info/data_index.json b/info/data_index.json index e985effa8278e1fcd2f3cb26cdb4c4a0514bbbce..ff5974a31192a880f885712d23fce5aa29a0cc5c 100644 --- a/info/data_index.json +++ b/info/data_index.json @@ -1,6 +1,7 @@ { "datasets": [ "AI2_Alphabot_2_arrange_teaset", + "AI2_Alphabot_2_brush_egg_wash", "AI2_Alphabot_2_carry_the_clothes_basket", "AI2_Alphabot_2_clink_glasses", "AI2_Alphabot_2_grind_ink", @@ -11,14 +12,17 @@ "AI2_Alphabot_2_item_reversal", "AI2_Alphabot_2_move_basket", "AI2_Alphabot_2_move_test_tube", + "AI2_Alphabot_2_move_test_tube_1", "AI2_Alphabot_2_move_the_table", "AI2_Alphabot_2_open_microwave", "AI2_Alphabot_2_operate_the_microwave_oven", "AI2_Alphabot_2_organize_cosmetics", + "AI2_Alphabot_2_organize_cosmetics_1", "AI2_Alphabot_2_organize_lab_equipment", "AI2_Alphabot_2_organize_pencil_holder", - "AI2_Alphabot_2_organize_toys_5", "AI2_Alphabot_2_package_fruit", + "AI2_Alphabot_2_package_fruit_1", + "AI2_Alphabot_2_package_fruit_2", "AI2_Alphabot_2_pass_the_sandbag", "AI2_Alphabot_2_pick_stirring_rod", "AI2_Alphabot_2_pick_test_tube", @@ -34,11 +38,13 @@ "AI2_Alphabot_2_shake_beaker", "AI2_Alphabot_2_shake_bottle", "AI2_Alphabot_2_shake_test_tube", + "AI2_Alphabot_2_shake_test_tube_1", "AI2_Alphabot_2_sort_angle_iron", "AI2_Alphabot_2_sort_garbage_bag_and_box", "AI2_Alphabot_2_sort_personal_care_items", "AI2_Alphabot_2_sort_utensils", "AI2_Alphabot_2_sort_warehouse", + "AI2_Alphabot_2_stack_blocks", "AI2_Alphabot_2_stack_building_blocks", "AI2_Alphabot_2_stack_cups", "AI2_Alphabot_2_stamp_document", @@ -46,7 +52,13 @@ "AI2_Alphabot_2_stir_spoon", "AI2_Alphabot_2_stir_water", "AI2_Alphabot_2_store_toys", + "AI2_Alphabot_2_store_toys_1", + "AI2_Alphabot_2_store_toys_2", + "AI2_Alphabot_2_store_toys_3", + "AI2_Alphabot_2_store_toys_4", + "AI2_Alphabot_2_store_toys_5", "AI2_Alphabot_2_test_data_cable", + "AI2_Alphabot_2_test_electricity", "AI2_Alphabot_2_tidy_countertop", "AI2_Alphabot_2_unplug_data_cable", "AI2_Alphabot_2_write_text", @@ -536,6 +548,9 @@ "Galbot_G1_fold_clothe_b", "Galbot_G1_fold_clothe_c", "Galbot_G1_fold_clothe_e", + "Galbot_G1_fold_clothes", + "Galbot_G1_fold_clothes_1", + "Galbot_G1_steamer_storage_baozi", "Galbot_G1_steamer_storage_baozi_a", "Galbot_G1_steamer_storage_baozi_b", "Galbot_G1_steamer_storage_baozi_c", @@ -546,13 +561,18 @@ "Galbot_G1_steamer_storage_baozi_h", "Galbot_G1_steamer_storage_baozi_i", "Galbot_G1_steamer_storage_baozi_j", + "Galbot_G1_use_dryer", + "Galbot_G1_use_dryer_1", "Leju_Kuavo_4_box_storage_parcel", "Leju_Kuavo_4_box_storage_parcel_1", "Leju_Kuavo_4_box_storage_parcel_10", "Leju_Kuavo_4_box_storage_parcel_11", "Leju_Kuavo_4_box_storage_parcel_2", + "Leju_Kuavo_4_box_storage_parcel_3", "Leju_Kuavo_4_box_storage_parcel_4", "Leju_Kuavo_4_box_storage_parcel_5", + "Leju_Kuavo_4_box_storage_parcel_6", + "Leju_Kuavo_4_box_storage_parcel_7", "Leju_Kuavo_4_box_storage_parcel_8", "Leju_Kuavo_4_box_storage_parcel_9", "Leju_Kuavo_4_box_storage_parcel_a", @@ -582,6 +602,7 @@ "Leju_Kuavo_4_hotel_services_h", "Leju_Kuavo_4_hotel_services_i", "Leju_Kuavo_4_moving_parts", + "Leju_Kuavo_4_moving_parts_1", "Leju_Kuavo_4_moving_parts_2", "Leju_Kuavo_4_moving_parts_3", "Leju_Kuavo_4_moving_parts_a", @@ -615,11 +636,13 @@ "Leju_Kuavo_4_sensor_card_swiping_13", "Leju_Kuavo_4_sensor_card_swiping_14", "Leju_Kuavo_4_sensor_card_swiping_15", + "Leju_Kuavo_4_sensor_card_swiping_16", "Leju_Kuavo_4_sensor_card_swiping_17", "Leju_Kuavo_4_sensor_card_swiping_18", "Leju_Kuavo_4_sensor_card_swiping_19", "Leju_Kuavo_4_sensor_card_swiping_2", "Leju_Kuavo_4_sensor_card_swiping_3", + "Leju_Kuavo_4_sensor_card_swiping_4", "Leju_Kuavo_4_sensor_card_swiping_5", "Leju_Kuavo_4_sensor_card_swiping_6", "Leju_Kuavo_4_sensor_card_swiping_7", @@ -720,12 +743,17 @@ "Unitree_G1edu-u3_pick_up_the_toy_ai", "Unitree_G1edu-u3_place_apple_c", "Unitree_G1edu-u3_place_bottle_c", + "Unitree_G1edu-u3_place_bread", + "Unitree_G1edu-u3_place_bread_1", + "Unitree_G1edu-u3_place_grape_error", "Unitree_G1edu-u3_place_metal_bowl_ae", "Unitree_G1edu-u3_place_metal_bowl_af", "Unitree_G1edu-u3_place_plastic_bowl_ag", "Unitree_G1edu-u3_place_plastic_bowl_ah", + "Unitree_G1edu-u3_place_towel", "Unitree_G1edu-u3_plate_storage_doll", "Unitree_G1edu-u3_plate_storage_rabbit_doll", + "Unitree_G1edu-u3_pour_drink", "Unitree_G1edu-u3_pullBowl_storage_bread_a", "Unitree_G1edu-u3_pullBowl_storage_bread_b", "Unitree_G1edu-u3_pullBowl_storage_bread_unordered_C", @@ -742,5 +770,5 @@ "Unitree_G1edu-u3_stack_bowls", "Unitree_G1edu-u3_tray_storage_lemon_a" ], - "count": 741 + "count": 769 } \ No newline at end of file diff --git a/info/download_stats.json b/info/download_stats.json index 78c631866643b691cbf4bdfe8d509e18e46ff028..662f77b3a7232e1d9f831c53206a6582b9524618 100644 --- a/info/download_stats.json +++ b/info/download_stats.json @@ -1,3008 +1,3092 @@ { - "last_updated": "2026-07-15T16:00:08.603324", + "last_updated": "2026-07-17T11:25:12.380738", "huggingface": { "org_name": "RoboCOIN", - "total_downloads": 2559055, + "total_downloads": 2918267, "total_likes": 0, - "dataset_count": 750, + "dataset_count": 771, "datasets": { - "AgiBot-g1_picks_up_parts_b": { - "downloads": 28979, + "Cobot_Magic_make_hamburger": { + "downloads": 34936, "likes": 0 }, - "Cobot_Magic_make_hamburger": { - "downloads": 28976, + "AgiBot-g1_picks_up_parts_b": { + "downloads": 31763, "likes": 0 }, "AgiBot-g1_storage_item_e": { - "downloads": 27768, + "downloads": 30229, "likes": 0 }, "AgiBot-g1_picks_up_battery_a": { - "downloads": 25400, + "downloads": 27397, "likes": 0 }, "AgiBot-g1_box_storage_cardboard_box_c": { - "downloads": 23163, + "downloads": 24951, "likes": 0 }, "AgiBot-g1_left_capture_part": { - "downloads": 20983, + "downloads": 22781, + "likes": 0 + }, + "RMC-AIDA-L_desktop_organization": { + "downloads": 20913, "likes": 0 }, "AgiBot-g1_box_storage_cardboard_box_a": { - "downloads": 19066, + "downloads": 20555, "likes": 0 }, - "AgiBot-g1_storage_item_d": { - "downloads": 18811, + "Cobot_Magic_pull_zipper": { + "downloads": 20478, "likes": 0 }, - "RMC-AIDA-L_desktop_organization": { - "downloads": 17833, + "AgiBot-g1_storage_item_d": { + "downloads": 20367, "likes": 0 }, - "AgiBot-g1_pick_up_battery": { - "downloads": 17036, + "Cobot_Magic_pour_drink": { + "downloads": 19005, "likes": 0 }, - "Cobot_Magic_pull_zipper": { - "downloads": 16997, + "AgiBot-g1_pick_up_battery": { + "downloads": 18561, "likes": 0 }, "AgiBot-g1_picks_up_battery_b": { - "downloads": 16660, + "downloads": 17877, 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"AI2_Alphabot_2_store_toys_1", "Agilex_Cobot_Magic_fold_T-shirts": "Agilex_Cobot_Magic_fold_T_shirts", "Agilex_Cobot_Magic_fold_jeans_shorts_children's": "Agilex_Cobot_Magic_fold_jeans_shorts_children_s", "Agilex_Cobot_Magic_storage_fuirt_bowl": "Agilex_Cobot_Magic_storage_fruit_bowl", @@ -411,7 +410,6 @@ "AI2_Alphabot_2_recover_after_touching_an_obstacle": "alpha_bot_2_recover_after_touching_an_obstacle", "AI2_Alphabot_2_stack_building_blocks": "alpha_bot_2_stack_building_blocks", "AI2_Alphabot_2_sticker": "alpha_bot_2_sticker", - "AI2_Alphabot_2_store_toys": "AI2_Alphabot_2_store_toys_1", "Agilex_Cobot_Magic_fold_T-shirts": "Agilex_Cobot_Magic_fold_T_shirts", "Agilex_Cobot_Magic_fold_jeans_shorts_children's": "Agilex_Cobot_Magic_fold_jeans_shorts_children_s", "Agilex_Cobot_Magic_storage_fuirt_bowl": "Agilex_Cobot_Magic_storage_fruit_bowl", @@ -738,4 +736,4 @@ "Unitree_G1edu-u3_stack_bowls": "G1edu-u3_stack_bowls", "Unitree_G1edu-u3_tray_storage_lemon_a": 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