| dataset_name: open_notebook | |
| dataset_uuid: f7156fc6-87bb-4662-b1ff-9cf8de2c4742 | |
| scene_type: | |
| - home | |
| atomic_actions: | |
| - grasp | |
| - open | |
| - hold | |
| end_effector_type: | |
| - five_finger_hand | |
| operation_platform_height: 77.2 | |
| objects: | |
| - object_name: table | |
| level1: furniture | |
| level2: table | |
| level3: null | |
| level4: null | |
| level5: null | |
| - object_name: notebook | |
| level1: office_supplies | |
| level2: notebook | |
| level3: null | |
| level4: null | |
| level5: null | |
| path: AIRBOT_MMK2_open_notebook | |
| video_url: ./assets/videos/AIRBOT_MMK2_open_notebook.mp4 | |
| thumbnail_url: ./assets/thumbnails/AIRBOT_MMK2_open_notebook.jpg | |
| license: apache-2.0 | |
| language: | |
| - en | |
| - zh | |
| task_categories: | |
| - robotics | |
| tags: | |
| - RoboCOIN | |
| - LeRobot | |
| frame_range: 10K-100K | |
| dataset_size: 419.3MB | |
| configs: | |
| - config_name: default | |
| data_files: data/*/*.parquet | |
| authors: | |
| contributed_by: | |
| - name: RoboCOIN | |
| url: https://flagopen.github.io/RoboCOIN/ | |
| affiliation: RoboCOIN Team | |
| annotated_by: | |
| - name: RoboCOIN | |
| url: https://flagopen.github.io/RoboCOIN/ | |
| affiliation: RoboCOIN Team | |
| 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 | |
| project_page: https://flagopen.github.io/RoboCOIN/ | |
| issues_url: https://github.com/FlagOpen/RoboCOIN/issues | |
| robot_type: AIRBOT_MMK2 | |
| codebase_version: v2.1 | |
| statistics: | |
| total_episodes: 49 | |
| total_frames: 11348 | |
| total_tasks: 1 | |
| total_videos: 196 | |
| total_chunks: 1 | |
| chunks_size: 1000 | |
| fps: 30 | |
| splits: | |
| train: 0:48 | |
| data_path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet | |
| video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 | |
| 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: 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.images.cam_third_view: | |
| 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: | |
| - 36 | |
| 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 | |
| - 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 | |
| - 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 | |
| - left_hand_joint_8_rad | |
| - left_hand_joint_9_rad | |
| - left_hand_joint_10_rad | |
| - left_hand_joint_11_rad | |
| - left_hand_joint_12_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 | |
| - right_hand_joint_8_rad | |
| - right_hand_joint_9_rad | |
| - right_hand_joint_10_rad | |
| - right_hand_joint_11_rad | |
| - right_hand_joint_12_rad | |
| action: | |
| dtype: float32 | |
| shape: | |
| - 36 | |
| 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 | |
| - 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 | |
| - 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 | |
| - left_hand_joint_8_rad | |
| - left_hand_joint_9_rad | |
| - left_hand_joint_10_rad | |
| - left_hand_joint_11_rad | |
| - left_hand_joint_12_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 | |
| - right_hand_joint_8_rad | |
| - right_hand_joint_9_rad | |
| - right_hand_joint_10_rad | |
| - right_hand_joint_11_rad | |
| - right_hand_joint_12_rad | |
| timestamp: | |
| dtype: float32 | |
| shape: | |
| - 1 | |
| names: null | |
| frame_index: | |
| dtype: int64 | |
| shape: | |
| - 1 | |
| names: null | |
| episode_index: | |
| dtype: int64 | |
| shape: | |
| - 1 | |
| names: null | |
| index: | |
| dtype: int64 | |
| shape: | |
| - 1 | |
| names: null | |
| task_index: | |
| dtype: int64 | |
| shape: | |
| - 1 | |
| names: null | |
| subtask_annotation: | |
| names: null | |
| dtype: int32 | |
| shape: | |
| - 5 | |
| scene_annotation: | |
| names: null | |
| dtype: int32 | |
| shape: | |
| - 1 | |
| eef_sim_pose_state: | |
| names: | |
| - left_eef_pos_x | |
| - left_eef_pos_y | |
| - left_eef_pos_z | |
| - left_eef_ori_x | |
| - left_eef_ori_y | |
| - left_eef_ori_z | |
| - right_eef_pos_x | |
| - right_eef_pos_y | |
| - right_eef_pos_z | |
| - right_eef_ori_x | |
| - right_eef_ori_y | |
| - right_eef_ori_z | |
| dtype: float32 | |
| shape: | |
| - 12 | |
| eef_sim_pose_action: | |
| names: | |
| - left_eef_pos_x | |
| - left_eef_pos_y | |
| - left_eef_pos_z | |
| - left_eef_ori_x | |
| - left_eef_ori_y | |
| - left_eef_ori_z | |
| - right_eef_pos_x | |
| - right_eef_pos_y | |
| - right_eef_pos_z | |
| - right_eef_ori_x | |
| - right_eef_ori_y | |
| - right_eef_ori_z | |
| 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 | |
| tasks: Press the bottom corner of the notebook with one hand and open it with the | |
| other. | |
| sub_tasks: | |
| - Release the laptop with the right gripper | |
| - Press the laptop with the right gripper | |
| - Open the laptop with the left gripper | |
| - Static | |
| - End | |
| - Grasp the laptop with the left gripper | |
| - 'null' | |
| annotations: | |
| subtask_annotation: auto_generated | |
| scene_annotation: auto_generated | |
| eef_direction: auto_generated | |
| eef_velocity: auto_generated | |
| eef_acc_mag: auto_generated | |
| gripper_mode: auto_generated | |
| gripper_activity: auto_generated | |
| cameras: | |
| - key: observation.images.cam_high_rgb | |
| name: cam_high_rgb | |
| dtype: video | |
| shape: | |
| - 480 | |
| - 640 | |
| - 3 | |
| resolution: | |
| - 480 | |
| - 640 | |
| fps: 30 | |
| is_depth: false | |
| - key: observation.images.cam_left_wrist_rgb | |
| name: cam_left_wrist_rgb | |
| dtype: video | |
| shape: | |
| - 480 | |
| - 640 | |
| - 3 | |
| resolution: | |
| - 480 | |
| - 640 | |
| fps: 30 | |
| is_depth: false | |
| - key: observation.images.cam_right_wrist_rgb | |
| name: cam_right_wrist_rgb | |
| dtype: video | |
| shape: | |
| - 480 | |
| - 640 | |
| - 3 | |
| resolution: | |
| - 480 | |
| - 640 | |
| fps: 30 | |
| is_depth: false | |
| - key: observation.images.cam_third_view | |
| name: cam_third_view | |
| dtype: video | |
| shape: | |
| - 480 | |
| - 640 | |
| - 3 | |
| resolution: | |
| - 480 | |
| - 640 | |
| fps: 30 | |
| is_depth: false | |
| observation_space: | |
| images: | |
| - key: observation.images.cam_high_rgb | |
| dtype: video | |
| shape: | |
| - 480 | |
| - 640 | |
| - 3 | |
| names: | |
| - height | |
| - width | |
| - channels | |
| - key: observation.images.cam_left_wrist_rgb | |
| dtype: video | |
| shape: | |
| - 480 | |
| - 640 | |
| - 3 | |
| names: | |
| - height | |
| - width | |
| - channels | |
| - key: observation.images.cam_right_wrist_rgb | |
| dtype: video | |
| shape: | |
| - 480 | |
| - 640 | |
| - 3 | |
| names: | |
| - height | |
| - width | |
| - channels | |
| - key: observation.images.cam_third_view | |
| dtype: video | |
| shape: | |
| - 480 | |
| - 640 | |
| - 3 | |
| names: | |
| - height | |
| - width | |
| - channels | |
| state: | |
| dtype: float32 | |
| shape: | |
| - 36 | |
| 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 | |
| - 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 | |
| - 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 | |
| - left_hand_joint_8_rad | |
| - left_hand_joint_9_rad | |
| - left_hand_joint_10_rad | |
| - left_hand_joint_11_rad | |
| - left_hand_joint_12_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 | |
| - right_hand_joint_8_rad | |
| - right_hand_joint_9_rad | |
| - right_hand_joint_10_rad | |
| - right_hand_joint_11_rad | |
| - right_hand_joint_12_rad | |
| action_space: | |
| dtype: float32 | |
| shape: | |
| - 36 | |
| 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 | |
| - 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 | |
| - 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 | |
| - left_hand_joint_8_rad | |
| - left_hand_joint_9_rad | |
| - left_hand_joint_10_rad | |
| - left_hand_joint_11_rad | |
| - left_hand_joint_12_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 | |
| - right_hand_joint_8_rad | |
| - right_hand_joint_9_rad | |
| - right_hand_joint_10_rad | |
| - right_hand_joint_11_rad | |
| - right_hand_joint_12_rad | |
| eef_sim_pose: auto_generated | |
| gripper_open_scale: auto_generated | |
| depth_enabled: false | |
| data_schema: auto_generated | |
| structure: "AIRBOT_MMK2_open_notebook_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\ | |
| │ └── (...)\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│ └── (...)\n\ | |
| ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ | |
| │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ | |
| \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ | |
| \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ | |
| \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ | |
| \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ | |
| \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ | |
| \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ | |
| \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ | |
| \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ | |
| \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ | |
| \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ | |
| \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ | |
| \ episode_000004.mp4\n └── (...)" | |
| contact_email: null | |
| 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: Please refer to the LICENSE file for full license terms and conditions. | |
| 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\ | |
| \ }" | |
| additional_citations: 'If you use this dataset, please also consider citing: | |
| - LeRobot Framework: https://github.com/huggingface/lerobot' | |
| version_info: '## Version History | |
| - v1.0.0 (2025-11): Initial release' | |
| raw: | |
| dataset_name: open_notebook | |
| dataset_uuid: null | |
| task_descriptions: | |
| - press the bottom right corner of the notebook with your right hand and open the | |
| notebook with your left hand. | |
| scene_type: | |
| - home | |
| atomic_actions: | |
| - grasp | |
| - open | |
| - hold | |
| objects: | |
| - object_name: table | |
| level1: furniture | |
| level2: table | |
| level3: null | |
| level4: null | |
| level5: null | |
| - object_name: notebook | |
| level1: office_supplies | |
| level2: notebook | |
| level3: null | |
| level4: null | |
| level5: null | |
| operation_platform_height: 77.2 | |
| device_model: | |
| - discover_robotics_aitbot_mmk2 | |
| end_effector_type: two_finger_gripper | |