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