{ "AgiBot-g1_right_capture_part": { "dataset_name": "right_capture_part", "dataset_uuid": "3bab35b2-895e-4796-be8a-198ba6e5baa8", "scene_type": [ "factory" ], "atomic_actions": [ "grasp" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "part", "level1": "tool", "level2": "part", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "black_container", "level1": "tool", "level2": "black_container", "level3": null, "level4": null, "level5": null } ], "path": "AgiBot-g1_right_capture_part", "video_url": "./assets/videos/AgiBot-g1_right_capture_part.mp4", "thumbnail_url": "./assets/thumbnails/AgiBot-g1_right_capture_part.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "13.1GB", "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": "AgiBot-g1", "codebase_version": "v2.1", "statistics": { "total_episodes": 57, "total_frames": 27866, "total_tasks": 1, "total_videos": 456, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:56" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "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, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_back_left_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_back_right_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_center_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_left_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_right_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "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": [ 41 ], "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open", "robot_pos_x_m", "robot_pos_y_m", "robot_pos_z_m", "robot_quat_x", "robot_quat_y", "robot_quat_z", "robot_quat_w" ] }, "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", "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_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 }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "grasp the part and place them on the black container.", "sub_tasks": [ "Place the front USB bracket into the box.", "Pick up and lift the front USB bracket from the feeding area.", "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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_back_left_fisheye_rgb", "name": "cam_back_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_back_right_fisheye_rgb", "name": "cam_back_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_center_fisheye_rgb", "name": "cam_high_center_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_left_fisheye_rgb", "name": "cam_high_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_right_fisheye_rgb", "name": "cam_high_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_back_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_back_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_center_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 41 ], "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open", "robot_pos_x_m", "robot_pos_y_m", "robot_pos_z_m", "robot_quat_x", "robot_quat_y", "robot_quat_z", "robot_quat_w" ] } }, "action_space": { "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", "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "AgiBot-g1_right_capture_part_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_back_left_fisheye_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_back_right_fisheye_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_high_center_fisheye_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_high_left_fisheye_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_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_high_right_fisheye_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "right_capture_part", "dataset_uuid": null, "task_descriptions": [ "grasp the part with your right hand and place them on the black container." ], "scene_type": [ "factory" ], "atomic_actions": [ "grasp" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "part", "level1": "tool", "level2": "part", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null }, { "object_name": "black_container", "level1": "tool", "level2": "black_container", "level3": null, "level4": null } ], "operation_platform_height": null, "device_model": [ "tianqing_a2d" ], "end_effector_type": "two_finger_gripper" } }, "AIRBOT_MMK2_place_the_shark_toys_and_gold_bars": { "dataset_name": "place_the_shark_toys_and_gold_bars", "dataset_uuid": "23b13e76-788e-4ea3-a624-4007f8eaa57e", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "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": "shark_doll", "level1": "toy", "level2": "shark_doll", "level3": null, "level4": null, "level5": null }, { "object_name": "gold_bar", "level1": "metal", "level2": "gold_bar", "level3": null, "level4": null, "level5": null }, { "object_name": "paper_box_lid", "level1": "daily_necessities", "level2": "paper_box_lid", "level3": null, "level4": null, "level5": null } ], "path": "AIRBOT_MMK2_place_the_shark_toys_and_gold_bars", "video_url": "./assets/videos/AIRBOT_MMK2_place_the_shark_toys_and_gold_bars.mp4", "thumbnail_url": "./assets/thumbnails/AIRBOT_MMK2_place_the_shark_toys_and_gold_bars.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "1K-10K", "dataset_size": "277.0MB", "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": 50, "total_frames": 6486, "total_tasks": 1, "total_videos": 200, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:49" }, "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": "Pick up the shark doll with one hand and put it in the lid of the paper box, then pick up the gold bar on the table with your other hand and put it in the lid of the paper box.", "sub_tasks": [ "End", "Place the whale on the paper box with the left gripper", "Place the gold bar on the paper box with the right gripper", "Grasp the whale with the left gripper", "Static", "Grasp the gold bar with the right 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_place_the_shark_toys_and_gold_bars_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "place_the_shark_toys_and_gold_bars", "dataset_uuid": null, "task_descriptions": [ "pick up the shark doll with your left hand and put it in the lid of the paper box. then, with your right hand, pick up the gold bar on the table and put it in the lid of the paper box." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "shark_doll", "level1": "toy", "level2": "shark_doll", "level3": null, "level4": null, "level5": null }, { "object_name": "gold_bar", "level1": "metal", "level2": "gold_bar", "level3": null, "level4": null, "level5": null }, { "object_name": "paper_box_lid", "level1": "daily_necessities", "level2": "paper_box_lid", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "airbot mmk2" ], "end_effector_type": "five_finger_hand" } }, "R1_Lite_make_tea": { "dataset_name": "make_tea", "dataset_uuid": "e07d0a2b-e02d-4bb2-867b-bf0afb55e958", "scene_type": [ "home", "restaurant" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "water", "level1": "drink", "level2": "water", "level3": null, "level4": null, "level5": null }, { "object_name": "tea_bag", "level1": "drink", "level2": "tea_bag", "level3": null, "level4": null, "level5": null }, { "object_name": "trash_bin", "level1": "container", "level2": "trash_bin", "level3": null, "level4": null, "level5": null }, { "object_name": "kettle", "level1": "electric_appliance", "level2": "kettle", "level3": null, "level4": null, "level5": null }, { "object_name": "cup", "level1": "container", "level2": "cup", "level3": null, "level4": null, "level5": null } ], "path": "R1_Lite_make_tea", "video_url": "./assets/videos/R1_Lite_make_tea.mp4", "thumbnail_url": "./assets/thumbnails/R1_Lite_make_tea.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "9.0GB", "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": "R1_Lite", "codebase_version": "v2.1", "statistics": { "total_episodes": 101, "total_frames": 162473, "total_tasks": 1, "total_videos": 303, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:100" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "pour kettle water into cup steep tea bag then discard it.", "sub_tasks": [ "Place the tea bag into the desktop trash can", "Place the tea bag into the desktop trash can with the left gripper", "Place the kettle on its original position with the left gripper", "Hand it to the other hand", "Pour the water from the kettle into the cup with the left gripper", "Place the tea bag in and out of the cup several times with the left gripper ", "Grasp the tea bag with the right gripper", "Lift the tea bag in and out of the cup several times", "End", "Pick up the kettle", "Hand it to the other gripper", "Abnormal", "Pick up the tea bag", "Place the tea bag in and out of the cup several times with the right gripper", "Place the kettle to its original position", "Pick up the kettle with the left gripper", "Pick up the kettle with the right gripper", "Grasp the tea bag with the left gripper", "Pour water from the kettle into the cup", "Pour the water from the kettle into the cup with the right gripper", "Place the kettle on its original position with the right gripper", "Place the tea bag into the desktop trash can with the right 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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "R1_Lite_make_tea_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "make_tea", "dataset_uuid": null, "task_descriptions": [ "Pick up the kettle, pour water into the teacup, hand over the tea bag to the other hand, put it in and take out the water cup, and finally throw the tea bag into the desktop trash can." ], "scene_type": [ "home", "restaurant" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "water", "level1": "drink", "level2": "water", "level3": null, "level4": null, "level5": null }, { "object_name": "tea_bag", "level1": "drink", "level2": "tea_bag", "level3": null, "level4": null, "level5": null }, { "object_name": "trash_bin", "level1": "container", "level2": "trash_bin", "level3": null, "level4": null, "level5": null }, { "object_name": "kettle", "level1": "electric_appliance", "level2": "kettle", "level3": null, "level4": null, "level5": null }, { "object_name": "cup", "level1": "container", "level2": "cup", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "galaxea_r1_lite" ], "end_effector_type": "two_finger_gripper" } }, "RMC-AIDA-L_pour_coffee_beans": { "dataset_name": "pour_coffee_beans", "dataset_uuid": "aa202f76-162f-44a2-aa83-c8448ab991e2", "scene_type": [ "kitchen", "restaurant" ], "atomic_actions": [ "grasp", "place", "pick", "takeout" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "gray_cup", "level1": "container", "level2": "gray_cup", "level3": null, "level4": null, "level5": null }, { "object_name": "red_cup", "level1": "container", "level2": "red_cup", "level3": null, "level4": null, "level5": null }, { "object_name": "glass", "level1": "container", "level2": "glass", "level3": null, "level4": null, "level5": null }, { "object_name": "coffee_bean", "level1": "food", "level2": "coffee_bean", "level3": null, "level4": null, "level5": null }, { "object_name": "blue_spoon", "level1": "tableware", "level2": "blue_spoon", "level3": null, "level4": null, "level5": null }, { "object_name": "pink_spoon", "level1": "tableware", "level2": "pink_spoon", "level3": null, "level4": null, "level5": null }, { "object_name": "glass_lid", "level1": "daily_necessities", "level2": "glass_lid", "level3": null, "level4": null, "level5": null } ], "path": "RMC-AIDA-L_pour_coffee_beans", "video_url": "./assets/videos/RMC-AIDA-L_pour_coffee_beans.mp4", "thumbnail_url": "./assets/thumbnails/RMC-AIDA-L_pour_coffee_beans.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "1.8GB", "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": "RMC-AIDA-L", "codebase_version": "v2.1", "statistics": { "total_episodes": 493, "total_frames": 352789, "total_tasks": 8, "total_videos": 1479, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:492" }, "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.state": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] }, "action": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "Use a blue spoon to take out the coffee beans from the glass and pour them into the gray cup.\nUse a pink spoon to take out the coffee beans from the glass and pour them into the gray cup.\nUse a blue spoon to take out the coffee beans from the glass and pour them into the red cup.\nUse a pink spoon to take out the coffee beans from the glass and pour them into the gray cup.\nUse a blue spoon to take out the coffee beans from the glass and pour them into the red cup.\nUse a pink spoon to take out the coffee beans from the glass and pour them into the red cup.\nUse a pink spoon to take out the coffee beans from the glass and pour them into the red cup.\nUse a blue spoon to take out the coffee beans from the glass and pour them into the gray cup.", "sub_tasks": [ "Place the spoon back in its original place with the right gripper", "Scoop a spoonful of beans into the cup with the right gripper", "abnormal", "Pick up the spoon with the right gripper", "Move the cup to the center of view with the left gripper", "end", "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 } ], "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" ] } ], "state": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] } }, "action_space": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "RMC-AIDA-L_pour_coffee_beans_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "pour_coffee_beans", "dataset_uuid": null, "task_descriptions": [ "use a blue spoon with right hand to take out the coffee beans from the glass, and then pour the coffee beans into the gray cup.", "use a pink spoon with right hand to take out the coffee beans from the glass, and then pour the coffee beans into the gray cup.", "use a blue spoon with right hand to take out the coffee beans from the glass, and then pour the coffee beans into the red cup.", "use a pink spoon with left hand to take out the coffee beans from the glass, and then pour the coffee beans into the gray cup.", "use a blue spoon with left hand to take out the coffee beans from the glass, and then pour the coffee beans into the red cup.", "use a pink spoon with left hand to take out the coffee beans from the glass, and then pour the coffee beans into the red cup.", "use a pink spoon with right hand to take out the coffee beans from the glass, and then pour the coffee beans into the red cup.", "use a blue spoon with left hand to take out the coffee beans from the glass, and then pour the coffee beans into the gray cup." ], "scene_type": [ "kitchen", "restaurant" ], "atomic_actions": [ "grasp", "place", "pick", "takeout" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "gray_cup", "level1": "container", "level2": "gray_cup", "level3": null, "level4": null, "level5": null }, { "object_name": "red_cup", "level1": "container", "level2": "red_cup", "level3": null, "level4": null, "level5": null }, { "object_name": "glass", "level1": "container", "level2": "glass", "level3": null, "level4": null, "level5": null }, { "object_name": "coffee_bean", "level1": "food", "level2": "coffee_bean", "level3": null, "level4": null, "level5": null }, { "object_name": "blue_spoon", "level1": "tableware", "level2": "blue_spoon", "level3": null, "level4": null, "level5": null }, { "object_name": "pink_spoon", "level1": "tableware", "level2": "pink_spoon", "level3": null, "level4": null, "level5": null }, { "object_name": "glass_lid", "level1": "daily_necessities", "level2": "glass_lid", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "realman rmc-aida-l" ], "end_effector_type": "two_finger_gripper" } }, "AIRBOT_MMK2_push_building_blocks": { "dataset_name": "push_building_blocks", "dataset_uuid": "6428216e-f07b-4971-8ba9-ac3162e1d2b0", "scene_type": [ "home" ], "atomic_actions": [ "push" ], "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": "building_blocks", "level1": "toy", "level2": "building_blocks", "level3": null, "level4": null, "level5": null } ], "path": "AIRBOT_MMK2_push_building_blocks", "video_url": "./assets/videos/AIRBOT_MMK2_push_building_blocks.mp4", "thumbnail_url": "./assets/thumbnails/AIRBOT_MMK2_push_building_blocks.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "1.6GB", "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": 139, "total_frames": 40790, "total_tasks": 3, "total_videos": 556, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:138" }, "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": "Push the cylindrical block to one side of the cubic block.\nPush the dark blue and yellow blocks to the upper corner below the arched block.\nPush the arched block upwards.", "sub_tasks": [ "Abnormal", "Move the green cylinder to the right side of the box with right gripper", "Move the yellow cube to the upper right side of the box with right gripper", "Move the orange cylinder to the right side of the box with right gripper", "Static", "End", "Move the wooden arched building blocks to the upper right side of the box with right gripper", "Move the blue cube to the upper right side of the box with right 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_push_building_blocks_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "push_building_blocks", "dataset_uuid": null, "task_descriptions": [ "push the cylindrical block to the right of the cubic block with your right hand.", "push the dark blue and yellow blocks to the upper right corner below the arched block with your right hand.", "push the arched block upwards with your right hand." ], "scene_type": [ "home" ], "atomic_actions": [ "push" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "building_blocks", "level1": "toy", "level2": "building_blocks", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "airbot mmk2" ], "end_effector_type": "five_finger_hand" } }, "Galbot_g1_steamer_storage_baozi_f": { "dataset_name": "steamer_storage_baozi_f", "dataset_uuid": "1e21db73-d466-45c1-8126-027d96c93953", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "end_effector_type": "two_finger_gripper", "operation_platform_height": 0.0, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "baozi", "level1": "food", "level2": "baozi", "level3": null, "level4": null, "level5": null }, { "object_name": "steamer", "level1": "container", "level2": "steamer", "level3": null, "level4": null, "level5": null }, { "object_name": "pot_lid", "level1": "daily_necessities", "level2": "pot_lid", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null } ], "path": "Galbot_g1_steamer_storage_baozi_f", "video_url": "./assets/videos/Galbot_g1_steamer_storage_baozi_f.mp4", "thumbnail_url": "./assets/thumbnails/Galbot_g1_steamer_storage_baozi_f.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "2.0GB", "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": "Galbot_g1", "codebase_version": "v2.1", "statistics": { "total_episodes": 96, "total_frames": 101540, "total_tasks": 1, "total_videos": 288, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:95" }, "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": [ 368, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 368, "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": [ 368, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 368, "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": [ 49 ], "names": [ "body_joint_1_rad", "body_joint_2_rad", "body_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", "left_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm" ] }, "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", "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" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "take steamed baozi put them in steamer then cover it.", "sub_tasks": [ "Grasp the pot lid with left gripper", "Place the pot lid on the steamer with left gripper", "End", "Place the baozi on the steamer with right gripper", "Grasp the baozi in the plate with right 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": [ 368, 640, 3 ], "resolution": [ 368, 640 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 368, 640, 3 ], "resolution": [ 368, 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": [ 368, 640, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 368, 640, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 49 ], "names": [ "body_joint_1_rad", "body_joint_2_rad", "body_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", "left_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm" ] } }, "action_space": { "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", "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Galbot_g1_steamer_storage_baozi_f_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "steamer_storage_baozi_f", "dataset_uuid": null, "task_descriptions": [ "take steamed baozi put them in steamer then cover it." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "baozi", "level1": "food", "level2": "baozi", "level3": null, "level4": null, "level5": null }, { "object_name": "steamer", "level1": "container", "level2": "steamer", "level3": null, "level4": null, "level5": null }, { "object_name": "pot_lid", "level1": "daily_necessities", "level2": "pot_lid", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 0, "device_model": [ "galbo" ], "end_effector_type": "two_finger_gripper" } }, "R1_Lite_fold_clothes": { "dataset_name": "fold_clothes", "dataset_uuid": "f4acf7a3-cf1f-4dbd-95da-0912a42be233", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "fold", "unfold" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "bed", "level1": "furniture", "level2": "bed", "level3": null, "level4": null, "level5": null }, { "object_name": "bed_sheet", "level1": "fabric", "level2": "bed_sheet", "level3": null, "level4": null, "level5": null }, { "object_name": "clothes", "level1": "fabric", "level2": "clothes", "level3": null, "level4": null, "level5": null } ], "path": "R1_Lite_fold_clothes", "video_url": "./assets/videos/R1_Lite_fold_clothes.mp4", "thumbnail_url": "./assets/thumbnails/R1_Lite_fold_clothes.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "17.4GB", "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": "R1_Lite", "codebase_version": "v2.1", "statistics": { "total_episodes": 111, "total_frames": 283265, "total_tasks": 1, "total_videos": 333, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:110" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "fold t shirt shorts sweatshirt on bed then unfold them.", "sub_tasks": [ "Unford the yellow T-shirt", "Unford the blue shorts", "Fold the brown shorts", "Unford the black T-shirt", "Unfold the black sweatshirt", "Fold the black T-shirt", "Unford the red T-shirt", "End", "abnormal", "Unford the brown shorts", "Fold the white T-shirt", "Unford the white T-shirt", "Fold the yellow T-shirt", "Fold the blue shorts", "Fold the red T-shirt", "Fold the black sweatshirt", "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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "R1_Lite_fold_clothes_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "fold_clothes", "dataset_uuid": null, "task_descriptions": [ "fold t shirt shorts sweatshirt on bed then unfold them." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "fold", "unfold" ], "objects": [ { "object_name": "bed", "level1": "furniture", "level2": "bed", "level3": null, "level4": null, "level5": null }, { "object_name": "bed_sheet", "level1": "fabric", "level2": "bed_sheet", "level3": null, "level4": null, "level5": null }, { "object_name": "clothes", "level1": "fabric", "level2": "clothes", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "galaxea_r1_lite" ], "end_effector_type": "two_finger_gripper" } }, "G1edu-u3_pick_plastic_bowl_ac": { "dataset_name": "pick_plastic_bowl_ac", "dataset_uuid": "8b3bc197-5de6-4704-a513-0c7fbf7f29ed", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick" ], "end_effector_type": [ "three_finger_hand" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "plastic_bowl", "level1": "container", "level2": "plastic_bowl", "level3": null, "level4": null, "level5": null } ], "path": "G1edu-u3_pick_plastic_bowl_ac", "video_url": "./assets/videos/G1edu-u3_pick_plastic_bowl_ac.mp4", "thumbnail_url": "./assets/thumbnails/G1edu-u3_pick_plastic_bowl_ac.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "175.8MB", "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": "G1edu-u3", "codebase_version": "v2.1", "statistics": { "total_episodes": 32, "total_frames": 12573, "total_tasks": 1, "total_videos": 32, "total_chunks": 1, "chunks_size": 32, "fps": 30 }, "splits": { "train": "0:31" }, "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.ego_view": { "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.state": { "dtype": "float32", "shape": [ 30 ], "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": [ 30 ], "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": "float64", "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": "Pick up the crumpled paper\nPick up the empty bottle\nPick up the leftover food\nPick up the metal bowl\nPick up the metal bowl\nPick up the plastic bowl\nPick up the plastic bowl\nPlace the metal bowl\nPlace the metal bowl\nPlace the plastic bowl\nPlace the plastic bowl", "sub_tasks": [ "Grasp the plastic bowl and lift it to the center of the view with left gripper", "End", "Grasp the plastic bowl and lift it to the center of the view with right 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.ego_view", "name": "ego_view", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.ego_view", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channel" ] } ], "state": { "dtype": "float32", "shape": [ 30 ], "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_space": { "dtype": "float32", "shape": [ 30 ], "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "G1edu-u3_pick_plastic_bowl_ac_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.ego_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "pick_plastic_bowl_ac", "dataset_uuid": null, "task_descriptions": [ "pick up the plastic bowl on the table." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "plastic_bowl", "level1": "container", "level2": "plastic_bowl", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "unitree_g1" ], "end_effector_type": "three_finger_hand" } }, "AgiBot-g1_mobile_accessory_storage_box_e": { "dataset_name": "mobile_accessory_storage_box_e", "dataset_uuid": "76ecd9c6-025c-4c06-abcc-de49bc084c86", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "accessories", "level1": "electronic_products", "level2": "accessories", "level3": null, "level4": null, "level5": null } ], "path": "AgiBot-g1_mobile_accessory_storage_box_e", "video_url": "./assets/videos/AgiBot-g1_mobile_accessory_storage_box_e.mp4", "thumbnail_url": "./assets/thumbnails/AgiBot-g1_mobile_accessory_storage_box_e.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "14.5GB", "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": "AgiBot-g1", "codebase_version": "v2.1", "statistics": { "total_episodes": 61, "total_frames": 29872, "total_tasks": 1, "total_videos": 488, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:60" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "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, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_back_left_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_back_right_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_center_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_left_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_right_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "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": [ 41 ], "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open", "robot_pos_x_m", "robot_pos_y_m", "robot_pos_z_m", "robot_quat_x", "robot_quat_y", "robot_quat_z", "robot_quat_w" ] }, "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", "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_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 }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "move the position of the storage box with accessories on the table.", "sub_tasks": [ "Place the mouse and power cord into the box.", "Simultaneously pick up the mouse and power cord from the accessory packaging area.", "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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_back_left_fisheye_rgb", "name": "cam_back_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_back_right_fisheye_rgb", "name": "cam_back_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_center_fisheye_rgb", "name": "cam_high_center_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_left_fisheye_rgb", "name": "cam_high_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_right_fisheye_rgb", "name": "cam_high_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_back_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_back_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_center_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 41 ], "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open", "robot_pos_x_m", "robot_pos_y_m", "robot_pos_z_m", "robot_quat_x", "robot_quat_y", "robot_quat_z", "robot_quat_w" ] } }, "action_space": { "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", "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "AgiBot-g1_mobile_accessory_storage_box_e_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_back_left_fisheye_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_back_right_fisheye_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_high_center_fisheye_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_high_left_fisheye_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_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_high_right_fisheye_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "mobile_accessory_storage_box_e", "dataset_uuid": null, "task_descriptions": [ "grasp data cable left put into box grasp mouse right put into box." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "accessories", "level1": "electronic_products", "level2": "accessories", "level3": null, "level4": null, "level5": null } ], "-operation_platform_height": null, "device_model": [ "tianqing_a2d" ], "end_effector_type": "two_finger_gripper" } }, "AgiBot-g1_picks_up_cardboard_box": { "dataset_name": "picks_up_cardboard_box", "dataset_uuid": "d4888396-b8d0-45fe-9fdc-8f4e9300b1fd", "scene_type": [ "home" ], "atomic_actions": [ "place", "pick", "grasp" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "paper_box", "level1": "tool", "level2": "paper_box", "level3": null, "level4": null, "level5": null }, { "object_name": "carton", "level1": "tool", "level2": "carton", "level3": null, "level4": null, "level5": null } ], "path": "AgiBot-g1_picks_up_cardboard_box", "video_url": "./assets/videos/AgiBot-g1_picks_up_cardboard_box.mp4", "thumbnail_url": "./assets/thumbnails/AgiBot-g1_picks_up_cardboard_box.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "59.5GB", "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": "AgiBot-g1", "codebase_version": "v2.1", "statistics": { "total_episodes": 277, "total_frames": 149409, "total_tasks": 1, "total_videos": 2216, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:276" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "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, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_center_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_left_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_right_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_back_left_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_back_right_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "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": [ 41 ], "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open", "robot_pos_x_m", "robot_pos_y_m", "robot_pos_z_m", "robot_quat_x", "robot_quat_y", "robot_quat_z", "robot_quat_w" ] }, "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", "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_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 }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "pick up the small cardboard box and load it into the large cardboard box.", "sub_tasks": [ "Pick up the mouse and power cord box.", "End", "Place the paper box in the another big box", "Grasp the paper box", "Place the mouse and power cord box into the case.", "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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_center_fisheye_rgb", "name": "cam_high_center_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_left_fisheye_rgb", "name": "cam_high_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_right_fisheye_rgb", "name": "cam_high_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_back_left_fisheye_rgb", "name": "cam_back_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_back_right_fisheye_rgb", "name": "cam_back_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_center_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_back_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_back_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 41 ], "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open", "robot_pos_x_m", "robot_pos_y_m", "robot_pos_z_m", "robot_quat_x", "robot_quat_y", "robot_quat_z", "robot_quat_w" ] } }, "action_space": { "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", "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "AgiBot-g1_picks_up_cardboard_box_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_back_left_fisheye_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_back_right_fisheye_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_high_center_fisheye_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_high_left_fisheye_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_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_high_right_fisheye_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "picks_up_cardboard_box", "dataset_uuid": null, "task_descriptions": [ "pick up the small cardboard box and load it into the large cardboard box." ], "scene_type": [ "home" ], "atomic_actions": [ "place", "pick", "grasp" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "paper_box", "level1": "tool", "level2": "paper_box", "level4": null, "level5": null }, { "object_name": "carton", "level1": "tool", "level2": "carton", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "tianqing_a2d" ], "end_effector_type": "two_finger_gripper" } }, "leju_robot_moving_parts_g": { "dataset_name": "moving_parts_g", "dataset_uuid": "4e06a288-ac8c-4c85-a86b-027159d4add0", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "end_effector_type": [ "five_finger_hand" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "cabinet", "level1": "furniture", "level2": "cabinet", "level3": null, "level4": null, "level5": null }, { "object_name": "parts", "level1": "mechanical_parts", "level2": "parts", "level3": null, "level4": null, "level5": null } ], "path": "leju_robot_moving_parts_g", "video_url": "./assets/videos/leju_robot_moving_parts_g.mp4", "thumbnail_url": "./assets/thumbnails/leju_robot_moving_parts_g.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "13.8GB", "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": "leju_robot", "codebase_version": "v2.1", "statistics": { "total_episodes": 157, "total_frames": 225345, "total_tasks": 1, "total_videos": 471, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:156" }, "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.camera_head_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_left_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_right_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "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": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] }, "action": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "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": "take the parts from the cabinet and place them on the table.", "sub_tasks": [ "Insert the small component into the corresponding slot on the workbench.", "Move to the table behind body", "Grasp the white part with right gripper", "Move the small component to the workbench.", "Place the white part on the table with left gripper", "Place the white part on the table with right gripper", "End", "Pick up the small component from the shelf.", "Return to the initial position at the workbench.", "Grasp the white part with 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.camera_head_rgb", "name": "camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_left_wrist_rgb", "name": "camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_right_wrist_rgb", "name": "camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] } }, "action_space": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "leju_robot_moving_parts_g_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.camera_head_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.camera_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.camera_right_wrist_rgb/\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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "moving_parts_g", "dataset_uuid": null, "task_descriptions": [ "take the parts from the cabinet and place them on the table." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "cabinet", "level1": "furniture", "level2": "cabinet", "level3": null, "level4": null, "level5": null }, { "object_name": "parts", "level1": "mechanical_parts", "level2": "parts", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "leju_robot" ], "end_effector_type": "two_finger_gripper" } }, "G1edu-u3_little_tray_storage_lemon_b": { "dataset_name": "little_tray_storage_lemon_b", "dataset_uuid": "7150e18c-8f80-44c3-934f-40eac73ed334", "scene_type": [ "home" ], "atomic_actions": [ "pick", "place" ], "end_effector_type": [ "three_finger_hand" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "lemon", "level1": "fruit", "level2": "lemon", "level3": null, "level4": null, "level5": null }, { "object_name": "tray", "level1": "container", "level2": "tray", "level3": null, "level4": null, "level5": null } ], "path": "G1edu-u3_little_tray_storage_lemon_b", "video_url": "./assets/videos/G1edu-u3_little_tray_storage_lemon_b.mp4", "thumbnail_url": "./assets/thumbnails/G1edu-u3_little_tray_storage_lemon_b.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "1K-10K", "dataset_size": "39.3MB", "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": "G1edu-u3", "codebase_version": "v2.1", "statistics": { "total_episodes": 14, "total_frames": 3028, "total_tasks": 1, "total_videos": 14, "total_chunks": 1, "chunks_size": 14, "fps": 30 }, "splits": { "train": "0:13" }, "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.ego_view": { "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.state": { "dtype": "float32", "shape": [ 30 ], "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": [ 30 ], "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": "float64", "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": "Pick up the red apple\nPick up the red apple\nPick up the water bottle\nPick up the water bottle\nPick up the white cup\nPick up the lemon\nPlace the red apple\nPlace the red apple in the basket\nPlace the red apple on the blue rectangle plate\nPlace the red apple on the orange round plate\nPlace the water bottle\nPlace the water bottle\nPlace the white cup\nPlace the lemon on the blue rectangle plate\nPlace the lemon on the orange round plate", "sub_tasks": [ "Place the lemon on the orange plate with right gripper", "End", "Place the lemon on the orange plate with 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.ego_view", "name": "ego_view", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.ego_view", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channel" ] } ], "state": { "dtype": "float32", "shape": [ 30 ], "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_space": { "dtype": "float32", "shape": [ 30 ], "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "G1edu-u3_little_tray_storage_lemon_b_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.ego_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "little_tray_storage_lemon_b", "dataset_uuid": null, "task_descriptions": [ "put the lemon in the little tray." ], "scene_type": [ "home" ], "atomic_actions": [ "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "lemon", "level1": "fruit", "level2": "lemon", "level3": null, "level4": null, "level5": null }, { "object_name": "tray", "level1": "container", "level2": "tray", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "unitree_g1" ], "end_effector_type": "three_finger_hand" } }, "R1_Lite_make_the_bed": { "dataset_name": "make_the_bed", "dataset_uuid": "ea93521a-043d-4af7-ac4e-5e26fa0d46ef", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place", "pull" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "quilt", "level1": "clothing", "level2": "quilt", "level3": null, "level4": null, "level5": null }, { "object_name": "bed", "level1": "furniture", "level2": "bed", "level3": null, "level4": null, "level5": null } ], "path": "R1_Lite_make_the_bed", "video_url": "./assets/videos/R1_Lite_make_the_bed.mp4", "thumbnail_url": "./assets/thumbnails/R1_Lite_make_the_bed.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "6.0GB", "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": "R1_Lite", "codebase_version": "v2.1", "statistics": { "total_episodes": 100, "total_frames": 240837, "total_tasks": 1, "total_videos": 300, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:99" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "hold quilt's folded corner flatten blanket's corners.", "sub_tasks": [ "Hold the folded corner of the quilt", "End", "abnormal", "Flatten the corners of the folded blanket", "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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "R1_Lite_make_the_bed_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "make_the_bed", "dataset_uuid": null, "task_descriptions": [ "Grasp the corner of the quilt and flatten the quilt." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place", "pull" ], "objects": [ { "object_name": "quilt", "level1": "clothing", "level2": "quilt", "level3": null, "level4": null, "level5": null }, { "object_name": "bed", "level1": "furniture", "level2": "bed", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "galaxea_r1_lite" ], "end_effector_type": "two_finger_gripper" } }, "Split_aloha_basket_storage_peach": { "dataset_name": "basket_storage_peach", "dataset_uuid": "aa4c76bf-e637-4da0-a962-fc0c3caea73c", "scene_type": [ "home", "kitchen" ], "atomic_actions": [ "grasp", "place", "pick" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "peach", "level1": "fruit", "level2": "peach", "level3": null, "level4": null, "level5": null }, { "object_name": "basket", "level1": "container", "level2": "basket", "level3": null, "level4": null, "level5": null } ], "path": "Split_aloha_basket_storage_peach", "video_url": "./assets/videos/Split_aloha_basket_storage_peach.mp4", "thumbnail_url": "./assets/thumbnails/Split_aloha_basket_storage_peach.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "5.0GB", "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": "Split_aloha", "codebase_version": "v2.1", "statistics": { "total_episodes": 994, "total_frames": 392136, "total_tasks": 1, "total_videos": 2982, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:993" }, "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.state": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "action": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "timestamp": { "dtype": "float32", "shape": [ 1 ], "names": null }, "frame_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "episode_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "task_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "subtask_annotation": { "names": null, "dtype": "int32", "shape": [ 5 ] }, "scene_annotation": { "names": null, "dtype": "int32", "shape": [ 1 ] }, "eef_sim_pose_state": { "names": [ "left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_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 ] }, "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 ] }, "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 ] } }, "tasks": "pick up the peach and put it into the basket.", "sub_tasks": [ "Pick up the peach", "Place the peach in the basket with right gripper", "place the peach into the basket", "Static", "Move the basket to the center of view", "Grasp the peach with right gripper", "Grasp the basket with left gripper", "Place the basket in the center of view with left gripper", "Abnormal", "End", "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 } ], "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" ] } ], "state": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] } }, "action_space": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Split_aloha_basket_storage_peach_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "basket_storage_peach", "dataset_uuid": null, "task_descriptions": [ "pick up the peach and put it into the basket." ], "scene_type": [ "home", "kitchen" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "peach", "level1": "fruit", "level2": "peach", "level3": null, "level4": null, "level5": null }, { "object_name": "basket", "level1": "container", "level2": "basket", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "agilex_cobot_decoupled_magic" ], "end_effector_type": "two_finger_gripper" } }, "R1_Lite_move_the_position_of_the_soda": { "dataset_name": "move_the_position_of_the_soda", "dataset_uuid": "776f8ed0-31b4-46e5-adbd-d905da18638c", "scene_type": [ "home" ], "atomic_actions": [ "place", "pick", "grasp" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "pen", "level1": "office_supplies", "level2": "pen", "level3": null, "level4": null, "level5": null }, { "object_name": "banana", "level1": "fruit", "level2": "banana", "level3": null, "level4": null, "level5": null }, { "object_name": "bath_ball", "level1": "daily_necessities", "level2": "bath_ball", "level3": null, "level4": null, "level5": null }, { "object_name": "bowl", "level1": "container", "level2": "bowl", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "can", "level1": "container", "level2": "can", "level3": null, "level4": null, "level5": null }, { "object_name": "eraser", "level1": "office_supplies", "level2": "eraser", "level3": null, "level4": null, "level5": null }, { "object_name": "hard_cleanser", "level1": "daily_necessities", "level2": "hard_cleanser", "level3": null, "level4": null, "level5": null }, { "object_name": "long_bread", "level1": "food", "level2": "long_bread", "level3": null, "level4": null, "level5": null }, { "object_name": "peeler", "level1": "tool", "level2": "peeler", "level3": null, "level4": null, "level5": null }, { "object_name": "block", "level1": "toy", "level2": "block", "level3": null, "level4": null, "level5": null }, { "object_name": "duck", "level1": "toy", "level2": "duck", "level3": null, "level4": null, "level5": null }, { "object_name": "soap", "level1": "daily_necessities", "level2": "soap", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", 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"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": "R1_Lite", "codebase_version": "v2.1", "statistics": { "total_episodes": 62, "total_frames": 17198, "total_tasks": 1, "total_videos": 248, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:61" }, "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_left_rgb": { "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_right_rgb": { "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": 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"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 ] }, "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 ] }, "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 ] } }, "tasks": "put the soda the designated position.", "sub_tasks": [ "End", "Grasp the soda water with right gripper", "Place the soda water on the table with right gripper", "Place the soda water on the table with left gripper", "Static", "Grasp the soda water with 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_left_rgb", "name": "cam_high_left_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_right_rgb", "name": "cam_high_right_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_left_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_right_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "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" ] } }, "action_space": { "dtype": "float32", "shape": [ 18 ], "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "R1_Lite_move_the_position_of_the_soda_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_left_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_high_right_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "move_the_position_of_the_soda", "dataset_uuid": null, "task_descriptions": [ "put the soda the designated position." ], "scene_type": [ "home" ], "atomic_actions": [ "place", "pick", "grasp" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "pen", "level1": "office_supplies", "level2": "pen", "level3": null, "level4": null, "level5": null }, { "object_name": "banana", "level1": "fruit", "level2": "banana", "level3": null, "level4": null, "level5": null }, { "object_name": "bath_ball", "level1": "daily_necessities", "level2": "bath_ball", "level3": null, "level4": null, "level5": null }, { "object_name": "bowl", "level1": "container", "level2": "bowl", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "can", "level1": "container", "level2": "can", "level3": null, "level4": null, "level5": null }, { "object_name": "eraser", "level1": "office_supplies", "level2": "eraser", "level3": null, "level4": null, "level5": null }, { "object_name": "hard_cleanser", "level1": "daily_necessities", "level2": "hard_cleanser", "level3": null, "level4": null, "level5": null }, { "object_name": "long_bread", "level1": "food", "level2": "long_bread", "level3": null, "level4": null, "level5": null }, { "object_name": "peeler", "level1": "tool", "level2": "peeler", "level3": null, "level4": null, "level5": null }, { "object_name": "block", "level1": "toy", "level2": "block", "level3": null, "level4": null, "level5": null }, { "object_name": "duck", "level1": "toy", "level2": "duck", "level3": null, "level4": null, "level5": null }, { "object_name": "soap", "level1": "daily_necessities", "level2": "soap", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "basket", "level1": "container", "level2": "basket", "level3": null, "level4": null, "level5": null }, { "object_name": "cola", "level1": "drink", "level2": "cola", "level3": null, "level4": null, "level5": null }, { "object_name": "detergent", "level1": "daily_necessities", "level2": "detergent", "level3": null, "level4": null, "level5": null }, { "object_name": "egg_beater", "level1": "electrical_appliances", "level2": "egg_beater", "level3": null, "level4": null, "level5": null }, { "object_name": "towel", "level1": "clothing", "level2": "towel", "level3": null, "level4": null, "level5": null }, { "object_name": "orange", "level1": "fruit", "level2": "orange", "level3": null, "level4": null, "level5": null }, { "object_name": "peach", "level1": "fruit", "level2": "peach", "level3": null, "level4": null, "level5": null }, { "object_name": "marker", "level1": "office_supplies", "level2": "marker", "level3": null, "level4": null, "level5": null }, { 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"level1": "drink", "level2": "coffee_capsule", "level3": null, "level4": null, "level5": null }, { "object_name": "dish", "level1": "container", "level2": "dish", "level3": null, "level4": null, "level5": null }, { "object_name": "glass", "level1": "furniture", "level2": "glass", "level3": null, "level4": null, "level5": null }, { "object_name": "egg_yolk_pastry", "level1": "food", "level2": "egg_yolk_pastry", "level3": null, "level4": null, "level5": null }, { "object_name": "glasses_case", "level1": "daily_necessities", "level2": "glasses_case", "level3": null, "level4": null, "level5": null }, { "object_name": "gum", "level1": "daily_necessities", "level2": "gum", "level3": null, "level4": null, "level5": null }, { "object_name": "tape", "level1": "daily_necessities", "level2": "tape", "level3": null, "level4": null, "level5": null }, { "object_name": "soft_cleanser", "level1": "daily_necessities", "level2": "soft_cleanser", "level3": null, "level4": null, "level5": null }, { "object_name": "chips", "level1": "food", "level2": "chips", "level3": null, "level4": null, "level5": null }, { "object_name": "chocolate", "level1": "food", "level2": "chocolate", "level3": null, "level4": null, "level5": null }, { "object_name": "cookie", "level1": "food", "level2": "cookie", "level3": null, "level4": null, "level5": null }, { "object_name": "spoon", "level1": "tableware", "level2": "spoon", "level3": null, "level4": null, "level5": null } ], "device_model": [ "galaxea_r1_lite" ], "end_effector_type": "two_finger_gripper", "operation_platform_height": 77.2 } }, "R1_Lite_switch_labels": { "dataset_name": "switch_labels", "dataset_uuid": "e32d8bbd-d12b-45e0-9c3f-932e67428f3d", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "the_door", "level1": "furniture", "level2": "the_door", "level3": null, "level4": null, "level5": null }, { "object_name": "door_handle", "level1": "accessories", "level2": "door_handle", "level3": null, "level4": null, "level5": null }, { "object_name": "tag", "level1": "tools", "level2": "tag", "level3": null, "level4": null, "level5": null } ], "path": "R1_Lite_switch_labels", "video_url": "./assets/videos/R1_Lite_switch_labels.mp4", "thumbnail_url": "./assets/thumbnails/R1_Lite_switch_labels.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "7.3GB", "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": "R1_Lite", "codebase_version": "v2.1", "statistics": { "total_episodes": 99, "total_frames": 171139, "total_tasks": 1, "total_videos": 297, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:98" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "take label off door handle switch sign then put back.", "sub_tasks": [ "End", "abnormal", "Take down the sign", "Hang the lable on the doorknob with right gripper", "Grasp the lable with left gripper", "Pass the lable from the left gripper to the right gripper", "Hang the sign back with the other side facing out", "Hand it to the other hand", "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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "R1_Lite_switch_labels_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "switch_labels", "dataset_uuid": null, "task_descriptions": [ "take label off door handle switch sign then put back." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "the_door", "level1": "furniture", "level2": "the_door", "level3": null, "level4": null, "level5": null }, { "object_name": "door_handle", "level1": "accessories", "level2": "door_handle", "level3": null, "level4": null, "level5": null }, { "object_name": "tag", "level1": "tools", "level2": "tag", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "galaxea_r1_lite" ], "end_effector_type": "two_finger_gripper" } }, "AIRBOT_MMK2_cake_storage": { "dataset_name": "cake_storage", "dataset_uuid": "ac6999bc-70a1-42a2-9b0c-7da1a22d297c", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "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": "cake", "level1": "food", "level2": "cake", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null } ], "path": "AIRBOT_MMK2_cake_storage", "video_url": "./assets/videos/AIRBOT_MMK2_cake_storage.mp4", "thumbnail_url": "./assets/thumbnails/AIRBOT_MMK2_cake_storage.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "1K-10K", "dataset_size": "198.5MB", "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": 50, "total_frames": 4691, "total_tasks": 1, "total_videos": 200, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:49" }, "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", 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"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": "pick up the cake on the table with both hands and place it on a white plate.", "sub_tasks": [ "End", "Grasp the cake with the left gripper", "Place the cake on the white basket with the left gripper", "Grasp the cake with the right gripper", "Place the cake on the white basket with the right gripper", "Static", "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_cake_storage_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "cake_storage", "dataset_uuid": null, "task_descriptions": [ "pick up the cake on the table with both hands and place it on a white plate." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "cake", "level1": "food", "level2": "cake", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "airbot mmk2" ], "end_effector_type": "five_finger_hand" } }, "R1_Lite_take_and_place_the_portable_power_bank": { "dataset_name": "take_and_place_the_portable_power_bank", "dataset_uuid": "f283fb8d-62de-4238-bb07-bcac110d50bb", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "cloth_bag", "level1": "container", "level2": "cloth_bag", "level3": null, "level4": null, "level5": null }, { "object_name": "portable_power_bank", "level1": "electronic_equipment", "level2": "portable_power_bank", "level3": null, "level4": null, "level5": null } ], "path": "R1_Lite_take_and_place_the_portable_power_bank", "video_url": "./assets/videos/R1_Lite_take_and_place_the_portable_power_bank.mp4", "thumbnail_url": "./assets/thumbnails/R1_Lite_take_and_place_the_portable_power_bank.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "17.3GB", "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": "R1_Lite", "codebase_version": "v2.1", "statistics": { "total_episodes": 110, "total_frames": 237234, "total_tasks": 1, "total_videos": 330, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:109" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "open cloth bag take out power bank then put back.", "sub_tasks": [ "Open the top of the storage box", "Release the handle", "Grip the handle again", "End", "abnormal", "Lift the black box", "Grip the handle", "Place the black box back", "Close the top of the storage box", "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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "R1_Lite_take_and_place_the_portable_power_bank_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "Mobile power bank removal and storage", "dataset_uuid": null, "task_descriptions": [ "open cloth bag take out power bank then put back." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "cloth_bag", "level1": "container", "level2": "cloth_bag", "level3": null, "level4": null, "level5": null }, { "object_name": "portable_power_bank", "level1": "electronic_equipment", "level2": "portable_power_bank", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "galaxea_r1_lite" ], "end_effector_type": "two_finger_gripper" } }, "Cobot_Magic_pour_water_a": { "dataset_name": "pour_water_a", "dataset_uuid": "1cf008f5-6677-4b28-8eae-d7a325544806", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "nongfu_spring_mineral_water", "level1": "drink", "level2": "nongfu_spring_mineral_water", "level3": null, "level4": null, "level5": null }, { "object_name": "yibao_mineral_water", "level1": "drink", "level2": "yibao_mineral_water", "level3": null, "level4": null, "level5": null }, { "object_name": "baisui_mountain_mineral_water", "level1": "drink", "level2": "baisui_mountain_mineral_water", "level3": null, "level4": null, "level5": null }, { "object_name": "wahaha_mineral_water", "level1": "drink", "level2": "wahaha_mineral_water", "level3": null, "level4": null, "level5": null }, { "object_name": "cup", "level1": "container", "level2": "cup", "level3": null, "level4": null, "level5": null } ], "path": "Cobot_Magic_pour_water_a", "video_url": "./assets/videos/Cobot_Magic_pour_water_a.mp4", "thumbnail_url": "./assets/thumbnails/Cobot_Magic_pour_water_a.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "1M-10M", "dataset_size": "13.6GB", "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": "Cobot_Magic", "codebase_version": "v2.1", "statistics": { "total_episodes": 891, "total_frames": 1283817, "total_tasks": 8, "total_videos": 2673, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:890" }, "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.state": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "action": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "timestamp": { "dtype": "float32", "shape": [ 1 ], "names": null }, "frame_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "episode_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "task_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "subtask_annotation": { "names": null, "dtype": "int32", "shape": [ 5 ] }, "scene_annotation": { "names": null, "dtype": "int32", "shape": [ 1 ] }, "eef_sim_pose_state": { "names": [ "left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_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 ] }, "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 ] }, "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 ] } }, "tasks": "Pick up a paper cup and a bottle of Nongfu Spring mineral water, pour the water into the paper cup, and then place them back on the table after completing.\nPick up the paper cup and the Yibao mineral water, pour the water into the paper cup, and then place them back on the table.\nPick up the paper cup and the Yibao mineral water, pour the water into the paper cup, and then place them back on the table.\nPick up a paper cup and a Nongfu Spring mineral water bottle, pour the water into the paper cup, and then place them back on the table.\nPick up the paper cup and the Nongfu Spring water bottle, and after grabbing both items by their ends, pour the water into one of them, then put down the paper cup and the water bottle.\nPick up the paper cup and the Yibao mineral water, and after holding both items by their ends, pour water into one of them, then put down the paper cup and the mineral water.\nPick up the blue paper cup and the Wahaha mineral water bottle, pour an appropriate amount of water into the paper cup, put down the blue paper cup, and put down the Wahaha mineral water bottle.\nPick up the blue paper cup and the Bai Suishan mineral water bottle, pour an appropriate amount of water into the paper cup, first put down the blue paper cup, and then put down the mineral water bottle.", "sub_tasks": [ "Grab the water bottle with the left hand.", "Place the paper cup with the right gripper", "Grab the paper cup with the left hand.", "Discard.", "Collect water with the right hand.", "Grab the paper cup with the right hand.", "Place the paper cup with the right hand.", "Pour water with the left hand.", "Pour water with the right hand.", "Place the bottle", "Grab the bottle with right gripper", "Pour water from bottle to cup with the right gripper", "Grasp the paper cup with the left gripper", "Grasp the paper cup with the right gripper", "Pour water from bottle to cup", "Pick up the bottle", "Pick up the cup", "Fill water with the right hand.", "Place the bottle with the right gripper", "Fill water with the left hand.", "Place the water bottle with the right hand.", "Lift the cup with left gripper", "Take the water with left gripper", "Pour water from bottle to cup with the left gripper", "Pour the water with right gripper", "abnormal", "Lift the paper cup with the right hand.", "Grab the water bottle with the right hand.", "Put the bottle down with right gripper", "Place the paper cup with the left hand.", "Place the cup", "Grasp the bottle with the right gripper", "Place the bottle with the left gripper", "Lift the paper cup with the left hand.", "Put the cup down with left gripper", "Place the paper cup with the left gripper", "Collect water with the left hand.", "end", "Grasp the bottle with the left gripper", "Place the water bottle with the left hand.", "Grasp the cup with 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 } ], "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" ] } ], "state": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] } }, "action_space": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Cobot_Magic_pour_water_a_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "pour_water_a", "dataset_uuid": null, "task_descriptions": [ "pick up the paper cup with your left hand and the yibao mineral water with your right hand. after holding both items by their ends, pour water into one of them, then put down the paper cup and the yibao mineral water.", "pick up the paper cup with your left hand and the nongfu spring water bottle with your right hand. after grabbing both items by their ends, pour the water into one of them, then put down the paper cup and the nongfu spring water bottle.", "with the left hand, pick up the blue paper cup, with the right hand pick up the wahaha mineral water bottle, pour an appropriate amount of water from the right hand into the left hand paper cup, put down the blue paper cup with the left hand, and put down the wahaha mineral water bottle with the right hand.", "pick up the blue paper cup with your left hand, then pick up the bai suishan mineral water bottle with your right hand. pour an appropriate amount of water from your right hand into the paper cup in your left hand. first, put down the blue paper cup with your left hand, then put down the bai suishan mineral water bottle with your right hand.", "pick up the yellow paper cup with the left hand, pick up the bai suishan mineral water bottle with the right hand, pour an appropriate amount of water from the right hand into the left hand's cup, first put down the yellow paper cup with the left hand, and then put down the bai suishan mineral water bottle with the right hand.", "with the left hand, pick up the yellow paper cup, and with the right hand, pick up the wahaha mineral water bottle. pour an appropriate amount of water from the right hand into the paper cup in the left hand, then first put down the yellow paper cup with the left hand, and finally put down the wahaha mineral water bottle with the right hand.", "pick up the paper cup with the left hand and the yibao mineral water with the right hand, pour the water into the paper cup, and then place them back on the table.", "picking up a paper cup with the left hand and a bottle of nongfu spring mineral water with the right hand, pouring the water into the paper cup, and then placing them back on the table after completing.", "pick up the paper cup with your right hand and the yibao mineral water with your left hand, pour the water into the paper cup, and then place them back on the table.", "picking up a paper cup with the right hand and a nongfu spring mineral water bottle with the left hand, pour the water into the paper cup, and then place them back on the table." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "nongfu_spring_mineral_water", "level1": "drink", "level2": "nongfu_spring_mineral_water", "level3": null, "level4": null, "level5": null }, { "object_name": "yibao_mineral_water", "level1": "drink", "level2": "yibao_mineral_water", "level3": null, "level4": null, "level5": null }, { "object_name": "baisui_mountain_mineral_water", "level1": "drink", "level2": "baisui_mountain_mineral_water", "level3": null, "level4": null, "level5": null }, { "object_name": "wahaha_mineral_water", "level1": "drink", "level2": "wahaha_mineral_water", "level3": null, "level4": null, "level5": null }, { "object_name": "cup", "level1": "container", "level2": "cup", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "agilex_cobot_magic_aloha" ], "end_effector_type": "two_finger_gripper" } }, "AIRBOT_MMK2_place_the_sponge_and_wet_wipes": { "dataset_name": "place_the_sponge_and_wet_wipes", "dataset_uuid": "ce41bab0-f121-49df-b55f-742a8e05ec09", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "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": "sponge", "level1": "daily_necessities", "level2": "sponge", "level3": null, "level4": null, "level5": null }, { "object_name": "wet_wipes", "level1": "daily_necessities", "level2": "wet_wipes", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "mouse_box", "level1": "container", "level2": "mouse_box", "level3": null, "level4": null, "level5": null }, { "object_name": "charging_power_bank_box", "level1": "container", "level2": "charging_power_bank_box", "level3": null, "level4": null, "level5": null }, { "object_name": "lid", "level1": "container", "level2": "lid", "level3": null, "level4": null, "level5": null } ], "path": "AIRBOT_MMK2_place_the_sponge_and_wet_wipes", "video_url": "./assets/videos/AIRBOT_MMK2_place_the_sponge_and_wet_wipes.mp4", "thumbnail_url": "./assets/thumbnails/AIRBOT_MMK2_place_the_sponge_and_wet_wipes.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "390.9MB", "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": 90, "total_frames": 10033, "total_tasks": 2, "total_videos": 360, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:89" }, "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": "pick up the sponge and wet wipes on the table with both hands and place them in a white tray.\nPick up the mouse box and the power bank box on the table with both hands simultaneously and put them into the white lid.", "sub_tasks": [ "Grasp the sponge with the left gripper ", "Grasp the wet wipes with the right gripper", "Place the sponge into the white basket with the left gripper ", "Static", "Abnormal", "End", "Place the phone case box on the white lid with the right gripper", "Grasp the mouse box with the left gripper", "Place the mouse box on the white lid with the left gripper", "Grasp the phone case box with the right gripper", "Place the wet wipes into the white basket with the right 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_place_the_sponge_and_wet_wipes_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "place_the_sponge_and_wet_wipes", "dataset_uuid": null, "task_descriptions": [ "pick up the sponge and wet wipes on the table with both hands and place them in a white tray.", "Pick up the mouse box and the power bank box on the table with both hands simultaneously and put them into the white lid." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "sponge", "level1": "daily_necessities", "level2": "sponge", "level3": null, "level4": null, "level5": null }, { "object_name": "wet_wipes", "level1": "daily_necessities", "level2": "wet_wipes", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "mouse_box", "level1": "container", "level2": "mouse_box", "level3": null, "level4": null, "level5": null }, { "object_name": "charging_power_bank_box", "level1": "container", "level2": "charging_power_bank_box", "level3": null, "level4": null, "level5": null }, { "object_name": "lid", "level1": "container", "level2": "lid", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "discover_robotics_aitbot_mmk2" ], "end_effector_type": "two_finger_gripper" } }, "Cobot_Magic_place_the_cube_block": { "dataset_name": "place_the_cube_block", "dataset_uuid": "8f5ebbc9-2983-4035-a6cd-395dcace072d", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "cube_block", "level1": "toy", "level2": "cube_block", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null } ], "path": "Cobot_Magic_place_the_cube_block", "video_url": "./assets/videos/Cobot_Magic_place_the_cube_block.mp4", "thumbnail_url": "./assets/thumbnails/Cobot_Magic_place_the_cube_block.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "222.1MB", "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": "Cobot_Magic", "codebase_version": "v2.1", "statistics": { "total_episodes": 58, "total_frames": 12763, "total_tasks": 1, "total_videos": 174, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:57" }, "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.state": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "action": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "timestamp": { "dtype": "float32", "shape": [ 1 ], "names": null }, "frame_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "episode_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "task_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "subtask_annotation": { "names": null, "dtype": "int32", "shape": [ 5 ] }, "scene_annotation": { "names": null, "dtype": "int32", "shape": [ 1 ] }, "eef_sim_pose_state": { "names": [ "left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_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 ] }, "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 ] }, "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 ] } }, "tasks": "pick up the cube block from the table and put it on the plate.", "sub_tasks": [ "Place it into the yellow plate", "Grasp the small cube on the table", "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 } ], "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" ] } ], "state": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] } }, "action_space": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Cobot_Magic_place_the_cube_block_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "place_the_cube_block", "dataset_uuid": null, "task_descriptions": [ "pick up the cube block from the table and put it on the plate." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "cube_block", "level1": "toy", "level2": "cube_block", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "agilex_cobot_magic_aloha" ], "end_effector_type": "two_finger_gripper" } }, "G1edu-u3_pick_metal_bowl_aa": { "dataset_name": "pick_metal_bowl_aa", "dataset_uuid": "e1af01c7-7aea-4e21-a205-cadda0c4620b", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick" ], "end_effector_type": [ "three_finger_hand" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "metal_bowl", "level1": "container", "level2": "metal_bowl", "level3": null, "level4": null, "level5": null } ], "path": "G1edu-u3_pick_metal_bowl_aa", "video_url": "./assets/videos/G1edu-u3_pick_metal_bowl_aa.mp4", "thumbnail_url": "./assets/thumbnails/G1edu-u3_pick_metal_bowl_aa.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "221.0MB", "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": "G1edu-u3", "codebase_version": "v2.1", "statistics": { "total_episodes": 35, "total_frames": 15548, "total_tasks": 1, "total_videos": 35, "total_chunks": 1, "chunks_size": 35, "fps": 30 }, "splits": { "train": "0:34" }, "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.ego_view": { "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.state": { "dtype": "float32", "shape": [ 30 ], "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": [ 30 ], "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": "float64", "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": "Pick up the crumpled paper\nPick up the empty bottle\nPick up the leftover food\nPick up the metal bowl\nPick up the metal bowl\nPick up the plastic bowl\nPick up the plastic bowl\nPlace the metal bowl\nPlace the metal bowl\nPlace the plastic bowl\nPlace the plastic bowl", "sub_tasks": [ "Grasp the metal bowl and lift it to the center of the view with left gripper", "End", "Grasp the metal bowl and lift it to the center of the view with right gripper", "Abnormal", "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.ego_view", "name": "ego_view", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.ego_view", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channel" ] } ], "state": { "dtype": "float32", "shape": [ 30 ], "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_space": { "dtype": "float32", "shape": [ 30 ], "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "G1edu-u3_pick_metal_bowl_aa_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.ego_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "pick_metal_bowl_aa", "dataset_uuid": null, "task_descriptions": [ "pick up the metal bowl on the table." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "metal_bowl", "level1": "container", "level2": "metal_bowl", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "unitree_g1" ], "end_effector_type": "three_finger_hand" } }, "AIRBOT_MMK2_place_the_building_blocks": { "dataset_name": "place_the_building_blocks", "dataset_uuid": "e309be0e-14ed-4d1a-bef2-0a030776d5f6", "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": "building_block", "level1": "toy", "level2": "building_block", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null } ], "path": "AIRBOT_MMK2_place_the_building_blocks", "video_url": "./assets/videos/AIRBOT_MMK2_place_the_building_blocks.mp4", "thumbnail_url": "./assets/thumbnails/AIRBOT_MMK2_place_the_building_blocks.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "455.5MB", "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": 43, "total_frames": 14173, "total_tasks": 1, "total_videos": 172, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:42" }, "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": "Put the red building blocks into one plate on the table and the green building blocks into the other plate.", "sub_tasks": [ "Abnormal", "Place the green cuboid block into the plate with the right gripper", "Static", "Grasp the red cuboid block with the left gripper", "Place the red cuboid block into the plate with the left gripper", "End", "Grasp the green cuboid block with the right 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_place_the_building_blocks_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "place_the_building_blocks", "dataset_uuid": null, "task_descriptions": [ "put the red building blocks into the plate on the table with your left hand and the green building blocks into the plate with your right 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": "building_block", "level1": "toy", "level2": "building_block", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "airbot mmk2" ], "end_effector_type": "five_finger_hand" } }, "AIRBOT_MMK2_place_the_umbrella_and_the_ruler": { "dataset_name": "place_the_umbrella_and_the_ruler", "dataset_uuid": "327b6447-3184-4211-985a-d0c2d279758c", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "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": "umbrella", "level1": "tool", "level2": "umbrella", "level3": null, "level4": null, "level5": null }, { "object_name": "lid", "level1": "container", "level2": "lid", "level3": null, "level4": null, "level5": null }, { "object_name": "tape_measure", "level1": "tool", "level2": "tape_measure", "level3": null, "level4": null, "level5": null } ], "path": "AIRBOT_MMK2_place_the_umbrella_and_the_ruler", "video_url": "./assets/videos/AIRBOT_MMK2_place_the_umbrella_and_the_ruler.mp4", "thumbnail_url": "./assets/thumbnails/AIRBOT_MMK2_place_the_umbrella_and_the_ruler.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "1K-10K", "dataset_size": "242.5MB", "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": 42, "total_frames": 7298, "total_tasks": 1, "total_videos": 168, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:41" }, "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": "Pick up the small umbrella with one hand and place it in the white lid, then pick up the measuring ruler with your other hand and place it in the white lid.", "sub_tasks": [ "Grasp the umbrella with the left gripper", "Grasp the tape measure with the right gripper", "Static", "End", "Place the tape measure in the white basket with the right gripper", "Place the umbrella in the white basket 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_place_the_umbrella_and_the_ruler_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "place_the_umbrella_and_the_ruler", "dataset_uuid": null, "task_descriptions": [ "pick up the small umbrella with your left hand and place it in the white lid. then, with your right hand, pick up the tape measure and place it in the white lid." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "umbrella", "level1": "tool", "level2": "umbrella", "level3": null, "level4": null, "level5": null }, { "object_name": "lid", "level1": "container", "level2": "lid", "level3": null, "level4": null, "level5": null }, { "object_name": "tape_measure", "level1": "tool", "level2": "tape_measure", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "airbot mmk2" ], "end_effector_type": "five_finger_hand" } }, "Cobot_Magic_fold_clothes": { "dataset_name": "fold_clothes", "dataset_uuid": "9ada1a09-15dc-469e-9b36-c01a488ceecf", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "long_sleeves", "level1": "clothing", "level2": "long_sleeves", "level3": null, "level4": null, "level5": null }, { "object_name": "tablecloth", "level1": "clothing", "level2": "tablecloth", "level3": null, "level4": null, "level5": null } ], "path": "Cobot_Magic_fold_clothes", "video_url": "./assets/videos/Cobot_Magic_fold_clothes.mp4", "thumbnail_url": "./assets/thumbnails/Cobot_Magic_fold_clothes.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "27.7GB", "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": "Cobot_Magic", "codebase_version": "v2.1", "statistics": { "total_episodes": 584, "total_frames": 774487, "total_tasks": 6, "total_videos": 1752, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:583" }, "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_front_rgb": { "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "fold a grey long-sleeved shirt over a blue coffee tablecloth.\nfold a grey long-sleeved shirt over the brown coffee tablecloth.\nfold a grey long-sleeved shirt over a green coffee tablecloth.\nfold a grey long-sleeved shirt over a pink coffee tablecloth.\nfold a grey long-sleeved shirt over a white checkered tablecloth.\nfold a grey long-sleeved shirt on a white desktop.", "sub_tasks": [ "End", "use the right arm to drag the right edge of the fabric to the left and folds it over the left edge", "use the right arm to clamp the right edge of the fabric", "Use your right arm to clamp the cuff closest to him", "use the right arm to drag and place the cuff at thecentered position on the left edge of the fabric", "use the right arm to drag the right edge of the fabric to the right and folds it over the left edge", "Hold the left edge of the fabric with your left arm", "use the left arm to drag and drop the cuff onto the cuff closest to the left arm", "use the right arm to drag and drop the cuff onto the cuffclosest to the right arm", "Spread the clothes out flat on the table with both grippers", "use both arms to drag the lower edge of the fabric forward and fold it over the upper edge", "use the left arm to drag and place the cuff at the centered position on the left edge of the fabric", "Abnormal", "use both arms simultaneously to clamp the lower edge of the clothing fabric", "use the left arm to clamp the cuff farthest from it", "Use your right arm to clamp the cuff farthest to him", "use the left arm to clamp the cuff closest to it", "Drag the left edge of the fabric to the left with your left arm and fold it to the right edge", "Spread the long sleeves with your arms and place them on the tabletop", "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_front_rgb", "name": "cam_front_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_front_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Cobot_Magic_fold_clothes_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_front_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "fold_clothes", "dataset_uuid": null, "task_descriptions": [ "fold a grey long-sleeved shirt over a blue tablecloth.", "fold a grey long-sleeved shirt over the brown tablecloth.", "fold a grey long-sleeved shirt over a green tablecloth.", "fold a grey long-sleeved shirt over a pink tablecloth.", "fold a grey long-sleeved shirt on a white desktop.", "fold a grey long-sleeved shirt over a white checkered tablecloth." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "long_sleeves", "level1": "clothing", "level2": "long_sleeves", "level3": null, "level4": null, "level5": null }, { "object_name": "tablecloth", "level1": "clothing", "level2": "tablecloth", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "agilex_cobot_decoupled_magic" ], "end_effector_type": "two_finger_gripper" } }, "AgiBot-g1_picks_up_parts_a": { "dataset_name": "picks_up_parts_a", "dataset_uuid": "ffa75a2d-6545-468f-86d7-86ae4766cc5a", "scene_type": [ "factory" ], "atomic_actions": [ "place", "pick", "grasp" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "basket", "level1": "container", "level2": "basket", "level3": null, "level4": null, "level5": null }, { "object_name": "parts", "level1": "tool", "level2": "parts", "level3": null, "level4": null, "level5": null } ], "path": "AgiBot-g1_picks_up_parts_a", "video_url": "./assets/videos/AgiBot-g1_picks_up_parts_a.mp4", "thumbnail_url": "./assets/thumbnails/AgiBot-g1_picks_up_parts_a.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "22.3GB", "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": "AgiBot-g1", "codebase_version": "v2.1", "statistics": { "total_episodes": 126, "total_frames": 45417, "total_tasks": 1, "total_videos": 1008, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:125" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "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, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_back_left_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_back_right_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_center_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_left_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_right_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "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": [ 41 ], "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open", "robot_pos_x_m", "robot_pos_y_m", "robot_pos_z_m", "robot_quat_x", "robot_quat_y", "robot_quat_z", "robot_quat_w" ] }, "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", "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_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 }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "use the mechanical arm to pick up the parts and place them on the table.", "sub_tasks": [ "Place the hard drive bracket into the box.", "Pick up the hard drive bracket from the feeding area.", "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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_back_left_fisheye_rgb", "name": "cam_back_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_back_right_fisheye_rgb", "name": "cam_back_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_center_fisheye_rgb", "name": "cam_high_center_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_left_fisheye_rgb", "name": "cam_high_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_right_fisheye_rgb", "name": "cam_high_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_back_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_back_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_center_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 41 ], "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open", "robot_pos_x_m", "robot_pos_y_m", "robot_pos_z_m", "robot_quat_x", "robot_quat_y", "robot_quat_z", "robot_quat_w" ] } }, "action_space": { "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", "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "AgiBot-g1_picks_up_parts_a_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_back_left_fisheye_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_back_right_fisheye_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_high_center_fisheye_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_high_left_fisheye_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_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_high_right_fisheye_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "picks_up_parts_a", "dataset_uuid": null, "task_descriptions": [ "use the mechanical arm to pick up the parts and place them on the table." ], "scene_type": [ "factory" ], "atomic_actions": [ "place", "pick", "grasp" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "basket", "level1": "container", "level2": "basket", "level3": null, "level4": null, "level5": null }, { "object_name": "parts", "level1": "tool", "level2": "parts", "level3": null, "level4": null, "level5": null } ], "-operation_platform_height": null, "device_model": [ "tianqing_a2d" ], "end_effector_type": "two_finger_gripper" } }, "Galbot_g1_steamer_storage_baozi_b": { "dataset_name": "steamer_storage_baozi_b", "dataset_uuid": "8e39e24f-3c2a-42e1-a5ca-04a7b55ef43c", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "end_effector_type": "two_finger_gripper", "operation_platform_height": 0.0, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "baozi", "level1": "food", "level2": "baozi", "level3": null, "level4": null, "level5": null }, { "object_name": "steamer", "level1": "container", "level2": "steamer", "level3": null, "level4": null, "level5": null }, { "object_name": "pot_lid", "level1": "daily_necessities", "level2": "pot_lid", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null } ], "path": "Galbot_g1_steamer_storage_baozi_b", "video_url": "./assets/videos/Galbot_g1_steamer_storage_baozi_b.mp4", "thumbnail_url": "./assets/thumbnails/Galbot_g1_steamer_storage_baozi_b.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "8.5GB", "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": "Galbot_g1", "codebase_version": "v2.1", "statistics": { "total_episodes": 430, "total_frames": 449647, "total_tasks": 1, "total_videos": 1290, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:429" }, "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": [ 368, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 368, "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": [ 368, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 368, "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": [ 49 ], "names": [ "body_joint_1_rad", "body_joint_2_rad", "body_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", "left_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm" ] }, "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", "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" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "take steamed baozi put them in steamer then cover it.", "sub_tasks": [ "Grasp the pot lid with left gripper", "Abnormal", "Place the pot lid on the steamer with left gripper", "End", "Place the baozi on the steamer with right gripper", "Grasp the baozi in the plate with right 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": [ 368, 640, 3 ], "resolution": [ 368, 640 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 368, 640, 3 ], "resolution": [ 368, 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": [ 368, 640, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 368, 640, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 49 ], "names": [ "body_joint_1_rad", "body_joint_2_rad", "body_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", "left_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm" ] } }, "action_space": { "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", "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Galbot_g1_steamer_storage_baozi_b_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "steamer_storage_baozi_b", "dataset_uuid": null, "task_descriptions": [ "take steamed baozi put them in steamer then cover it." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "baozi", "level1": "food", "level2": "baozi", "level3": null, "level4": null, "level5": null }, { "object_name": "steamer", "level1": "container", "level2": "steamer", "level3": null, "level4": null, "level5": null }, { "object_name": "pot_lid", "level1": "daily_necessities", "level2": "pot_lid", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 0, "device_model": [ "galbo" ], "end_effector_type": "two_finger_gripper" } }, "leju_robot_pass_the_cleaner_c": { "dataset_name": "pass_the_cleaner_c", "dataset_uuid": "3cc917ac-539a-404f-be76-b82846c01668", "scene_type": [ "home", "industry" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "five_finger_hand" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "cleaner", "level1": "daily_necessities", "level2": "cleaner", "level3": null, "level4": null, "level5": null } ], "path": "leju_robot_pass_the_cleaner_c", "video_url": "./assets/videos/leju_robot_pass_the_cleaner_c.mp4", "thumbnail_url": "./assets/thumbnails/leju_robot_pass_the_cleaner_c.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "8.3GB", "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": "leju_robot", "codebase_version": "v2.1", "statistics": { "total_episodes": 444, "total_frames": 162075, "total_tasks": 1, "total_videos": 1332, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:443" }, "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.camera_head_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_left_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_right_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "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": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] }, "action": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "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": "pick up the cleaner and put it on the table.", "sub_tasks": [ "Turn the bottle to the front side.", "Pick up the bottle from the table.", "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.camera_head_rgb", "name": "camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_left_wrist_rgb", "name": "camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_right_wrist_rgb", "name": "camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] } }, "action_space": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "leju_robot_pass_the_cleaner_c_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.camera_head_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.camera_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.camera_right_wrist_rgb/\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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "pass_the_cleaner_c", "dataset_uuid": null, "task_descriptions": [ "pick up the cleaner with right hand and passit to left hand then put it on the table." ], "scene_type": [ "home", "industry" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "cleaner", "level1": "daily_necessities", "level2": "cleaner", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "leju_kuavo_4_pro" ], "end_effector_type": "five_finger_gripper" } }, "AIRBOT_MMK2_storage_for_building_blocks_and_beauty_sponges": { "dataset_name": "storage_for_building_blocks_and_beauty_sponges", "dataset_uuid": "be857fee-79ab-4aaa-b319-7037bc68d506", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "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": "plastic_bullets", "level1": "toy", "level2": "plastic_bullets", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "building_blocks", "level1": "toy", "level2": "building_blocks", "level3": null, "level4": null, "level5": null }, { "object_name": "sponge", "level1": "daily_necessities", "level2": "sponge", "level3": null, "level4": null, "level5": null }, { "object_name": "mouse_box", "level1": "container", "level2": "mouse_box", "level3": null, "level4": null, "level5": null }, { "object_name": "beverage", "level1": "juice", "level2": "beverage", "level3": null, "level4": null, "level5": null }, { "object_name": "wet_wipes", "level1": "daily_necessities", "level2": "wet_wipes", "level3": null, "level4": null, "level5": null } ], "path": "AIRBOT_MMK2_storage_for_building_blocks_and_beauty_sponges", "video_url": "./assets/videos/AIRBOT_MMK2_storage_for_building_blocks_and_beauty_sponges.mp4", "thumbnail_url": "./assets/thumbnails/AIRBOT_MMK2_storage_for_building_blocks_and_beauty_sponges.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "1.0GB", "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": 150, "total_frames": 33906, "total_tasks": 3, "total_videos": 600, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:149" }, "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": "Take the sponge out of the plate with one hand and place it on the table, then pick up the mouse box from the table with your other hand and place it on the plate.\nTake the drink out of the plate with one hand and place it on the table, then pick up the wet wipes from the table with your other hand and place them on the plate.\nTake the beauty blender out of the plate with one hand and place it on the table, then pick up the building blocks from the table with your other hand and place them on the plate.", "sub_tasks": [ "Graasp the bullet on the plate and with the left gripper", "Abnormal", "Place the mouse box into the plate with the right gripper", "Grasp the Vitamin B water in the plate with the left gripper", "Place the wet wipes into the plate with the right gripper", "Place the bullet on the table with the left gripper", "Grasp the mouse box with the right gripper", "Place the sponge on the table with the left gripper", "Place the Vitamin B water on the table with the left gripper", "Static", "Graasp the green rectangular block with the right gripper", "End", "Grasp the sponge in the plate with the left gripper", "Grasp the wet wipes with the right gripper", "Place the green rectangular block on the plate with the right 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_storage_for_building_blocks_and_beauty_sponges_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "storage_for_building_blocks_and_beauty_sponges", "dataset_uuid": null, "task_descriptions": [ "take the plastic bullets out of the plate with your left hand and place it on the table; pick up the building blocks from the table with your right hand and place them on the plate.", "take the sponge out of the plate with your left hand and place it on the table. pick up the mouse box from the table with your right hand and place it on the plate.", "take the drink out of the plate with your left hand and place it on the table. pick up the wet wipes from the table with your right hand and place them on the plate." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "plastic_bullets", "level1": "toy", "level2": "plastic_bullets", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "building_blocks", "level1": "toy", "level2": "building_blocks", "level3": null, "level4": null, "level5": null }, { "object_name": "sponge", "level1": "daily_necessities", "level2": "sponge", "level3": null, "level4": null, "level5": null }, { "object_name": "mouse_box", "level1": "container", "level2": "mouse_box", "level3": null, "level4": null, "level5": null }, { "object_name": "beverage", "level1": "juice", "level2": "beverage", "level3": null, "level4": null, "level5": null }, { "object_name": "wet_wipes", "level1": "daily_necessities", "level2": "wet_wipes", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "airbot mmk2" ], "end_effector_type": "five_finger_hand" } }, "Galbot_g1_steamer_storage_baozi_d": { "dataset_name": "steamer_storage_baozi_d", "dataset_uuid": "6476bc25-2a08-4c26-98c9-e84875c9b667", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "end_effector_type": "two_finger_gripper", "operation_platform_height": 0.0, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "baozi", "level1": "food", "level2": "baozi", "level3": null, "level4": null, "level5": null }, { "object_name": "steamer", "level1": "container", "level2": "steamer", "level3": null, "level4": null, "level5": null }, { "object_name": "pot_lid", "level1": "daily_necessities", "level2": "pot_lid", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null } ], "path": "Galbot_g1_steamer_storage_baozi_d", "video_url": "./assets/videos/Galbot_g1_steamer_storage_baozi_d.mp4", "thumbnail_url": "./assets/thumbnails/Galbot_g1_steamer_storage_baozi_d.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "16.7GB", "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": "Galbot_g1", "codebase_version": "v2.1", "statistics": { "total_episodes": 969, "total_frames": 992823, "total_tasks": 1, "total_videos": 2907, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:968" }, "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": [ 368, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 368, "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": [ 368, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 368, "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": [ 49 ], "names": [ "body_joint_1_rad", "body_joint_2_rad", "body_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", "left_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm" ] }, "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", "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" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "take steamed baozi put them in steamer then cover it.", "sub_tasks": [ "Grasp the pot lid with left gripper", "Abnormal", "Place the pot lid on the steamer with left gripper", "End", "Place the baozi on the steamer with right gripper", "Grasp the baozi in the plate with right 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": [ 368, 640, 3 ], "resolution": [ 368, 640 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 368, 640, 3 ], "resolution": [ 368, 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": [ 368, 640, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 368, 640, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 49 ], "names": [ "body_joint_1_rad", "body_joint_2_rad", "body_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", "left_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm" ] } }, "action_space": { "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", "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Galbot_g1_steamer_storage_baozi_d_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "steamer_storage_baozi_d", "dataset_uuid": null, "task_descriptions": [ "take steamed baozi put them in steamer then cover it." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "baozi", "level1": "food", "level2": "baozi", "level3": null, "level4": null, "level5": null }, { "object_name": "steamer", "level1": "container", "level2": "steamer", "level3": null, "level4": null, "level5": null }, { "object_name": "pot_lid", "level1": "daily_necessities", "level2": "pot_lid", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 0, "device_model": [ "galbo" ], "end_effector_type": "two_finger_gripper" } }, "R1_Lite_make_a_landline_call": { "dataset_name": "make_a_landline_call", "dataset_uuid": "0fc5b260-c949-49ab-8963-c0869de35749", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "furnitureixed_line_telephone", "level1": "communication_equipment", "level2": "furnitureixed_line_telephone", "level3": null, "level4": null, "level5": null } ], "path": "R1_Lite_make_a_landline_call", "video_url": "./assets/videos/R1_Lite_make_a_landline_call.mp4", "thumbnail_url": "./assets/thumbnails/R1_Lite_make_a_landline_call.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "5.9GB", "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": "R1_Lite", "codebase_version": "v2.1", "statistics": { "total_episodes": 115, "total_frames": 86262, "total_tasks": 1, "total_videos": 345, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:114" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "lift phone handle dial number then replace to end call.", "sub_tasks": [ "Pick up the desk phone handset", "End the call using the dial pad", "Put the handset back", "Dial the number", "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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "R1_Lite_make_a_landline_call_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "make_a_landline_call", "dataset_uuid": null, "task_descriptions": [ "lift phone handle dial number then replace to end call." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "furnitureixed_line_telephone", "level1": "communication_equipment", "level2": "furnitureixed_line_telephone", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "galaxea_r1_lite" ], "end_effector_type": "two_finger_gripper" } }, "leju_robot_hotel_services_c": { "dataset_name": "hotel_services_c", "dataset_uuid": "6caaa6a8-f638-4f21-89e1-89725c297ba7", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "five_finger_hand" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "card", "level1": "nfc", "level2": "card", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "card reader", "level1": "electronic_products", "level2": "card reader", "level3": null, "level4": null, "level5": null } ], "path": "leju_robot_hotel_services_c", "video_url": "./assets/videos/leju_robot_hotel_services_c.mp4", "thumbnail_url": "./assets/thumbnails/leju_robot_hotel_services_c.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "15.6GB", "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": "leju_robot", "codebase_version": "v2.1", "statistics": { "total_episodes": 334, "total_frames": 235148, "total_tasks": 1, "total_videos": 1002, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:333" }, "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.camera_head_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_left_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_right_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "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": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] }, "action": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "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": "take out the card place it on the sensor for recognition and then transfer it.", "sub_tasks": [ "Hand the room key to the person.", "Place the ID card on the card reader.", "Take the ID card from the person's hand.", "Pick up the room key from the key card box.", "Hand the ID card to the person.", "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.camera_head_rgb", "name": "camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_left_wrist_rgb", "name": "camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_right_wrist_rgb", "name": "camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] } }, "action_space": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "leju_robot_hotel_services_c_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.camera_head_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.camera_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.camera_right_wrist_rgb/\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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "hotel_services_c", "dataset_uuid": null, "task_descriptions": [ "take identity card and place it on card reader then give identity card and room card to human." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "card", "level1": "nfc", "level2": "card", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "card reader", "level1": "electronic_products", "level2": "card reader", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "leju_kuavo_4_pro" ], "end_effector_type": "five_finger_gripper" } }, "AgiBot-g1_box_storage_b": { "dataset_name": "box_storage_b", "dataset_uuid": "acb66e80-45d3-413b-829d-ca92e763d418", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null } ], "path": "AgiBot-g1_box_storage_b", "video_url": "./assets/videos/AgiBot-g1_box_storage_b.mp4", "thumbnail_url": "./assets/thumbnails/AgiBot-g1_box_storage_b.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "19.7GB", "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": "AgiBot-g1", "codebase_version": "v2.1", "statistics": { "total_episodes": 96, "total_frames": 49301, "total_tasks": 1, "total_videos": 768, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:95" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "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, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_back_left_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_back_right_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_center_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_left_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_right_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "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": [ 41 ], "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open", "robot_pos_x_m", "robot_pos_y_m", "robot_pos_z_m", "robot_quat_x", "robot_quat_y", "robot_quat_z", "robot_quat_w" ] }, "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", "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_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 }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "put the box on the table into the big box.", "sub_tasks": [ "Place the mouse and the power cord paper box into the container.", "Pick up the mouse and the power cord paper box.", "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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_back_left_fisheye_rgb", "name": "cam_back_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_back_right_fisheye_rgb", "name": "cam_back_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_center_fisheye_rgb", "name": "cam_high_center_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_left_fisheye_rgb", "name": "cam_high_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_right_fisheye_rgb", "name": "cam_high_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_back_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_back_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_center_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 41 ], "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open", "robot_pos_x_m", "robot_pos_y_m", "robot_pos_z_m", "robot_quat_x", "robot_quat_y", "robot_quat_z", "robot_quat_w" ] } }, "action_space": { "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", "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "AgiBot-g1_box_storage_b_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_back_left_fisheye_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_back_right_fisheye_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_high_center_fisheye_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_high_left_fisheye_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_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_high_right_fisheye_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "box_storage_b", "dataset_uuid": null, "task_descriptions": [ "put the box on the table into the big box." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null } ], "-operation_platform_height": null, "device_model": [ "tianqing_a2d" ], "end_effector_type": "two_finger_gripper" } }, "AIRBOT_MMK2_open_notebook": { "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- 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" } }, "Cobot_Magic_the_plate_holds_the_vegetables": { "dataset_name": "the_plate_holds_the_vegetables", "dataset_uuid": "3ce5fdfc-c006-40f2-95d9-16a38b9e6337", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "vegetables", "level1": "food", "level2": "vegetables", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "tablecloth", "level1": "clothing", "level2": "tablecloth", "level3": null, "level4": null, "level5": null } ], "path": "Cobot_Magic_the_plate_holds_the_vegetables", "video_url": "./assets/videos/Cobot_Magic_the_plate_holds_the_vegetables.mp4", "thumbnail_url": "./assets/thumbnails/Cobot_Magic_the_plate_holds_the_vegetables.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "8.5GB", "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": "Cobot_Magic", "codebase_version": "v2.1", "statistics": { "total_episodes": 505, "total_frames": 179090, "total_tasks": 6, "total_videos": 1515, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:504" }, "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_front_rgb": { "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "take vegetables from cloth bag on blue coffee tablecloth place on plate.\ntake vegetables from bag on green coffee tablecloth place on plate.\ntake vegetables from bag on grey coffee tablecloth place on plate.\ntake vegetables from bag on pink coffee tablecloth place on plate.\ntake vegetables from cloth bag on white table place on plate.\ntake vegetables from bag on white checkered tablecloth place on plate.", "sub_tasks": [ "Place the pumpkin on the plate with right gripper", "Place the radish on the plate with right gripper", "Place the potato on the plate with left gripper", "Place the bell pepper on the plate with right gripper", "Place the eggplant on the plate with right gripper", "Place the eggplant on the plate with left gripper", "Grasp the bell pepper with left gripper", "End", "Grasp the bell pepper with right gripper", "Place the bell pepper on the plate with left gripper", "Grasp the bitter melon with left gripper", "Grasp the eggplant with right gripper", "Grasp the potato with left gripper", "Abnormal", "Place the radish on the plate with left gripper", "Grasp the bitter melon with right gripper", "Grasp the eggplant with left gripper", "Place the pumpkin on the plate with left gripper", "Place the carrot on the plate with right gripper", "Place the carrot on the plate with left gripper", "Grasp the carrot with left gripper", "Grasp the radish with left gripper", "Place the bitter melon on the plate with left gripper", "Grasp the pumpkin with left gripper", "Grasp the radish with right gripper", "Grasp the carrot with right gripper", "Grasp the potato with right gripper", "Place the potato on the plate with right gripper", "Grasp the pumpkin with right gripper", "Place the bitter melon on the plate with right 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_front_rgb", "name": "cam_front_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_front_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Cobot_Magic_the_plate_holds_the_vegetables_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_front_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "the_plate_holds_the_vegetables", "dataset_uuid": null, "task_descriptions": [ "take vegetables from cloth bag on blue tablecloth place on plate.", "take vegetables from bag on green tablecloth place on plate.", "take vegetables from bag on grey tablecloth place on plate.", "take vegetables from bag on pink tablecloth place on plate.", "take vegetables from cloth bag on white table place on plate.", "take vegetables from bag on white checkered tablecloth place on plate." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "vegetables", "level1": "food", "level2": "vegetables", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "tablecloth", "level1": "clothing", "level2": "tablecloth", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "agilex_cobot_decoupled_magic" ], "end_effector_type": "two_finger_gripper" } }, "RMC-AIDA-L_glasses_storage": { "dataset_name": "glasses_storage", "dataset_uuid": "3f805357-8df7-41c3-aa00-a08b08e0915c", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "fold", "close", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "glasses_case", "level1": "daily_necessities", "level2": "glasses_case", "level3": null, "level4": null, "level5": null }, { "object_name": "glasses", "level1": "daily_necessities", "level2": "glasses", "level3": null, "level4": null, "level5": null } ], "path": "RMC-AIDA-L_glasses_storage", "video_url": "./assets/videos/RMC-AIDA-L_glasses_storage.mp4", "thumbnail_url": "./assets/thumbnails/RMC-AIDA-L_glasses_storage.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "8.6GB", "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": "RMC-AIDA-L", "codebase_version": "v2.1", "statistics": { "total_episodes": 990, "total_frames": 861465, "total_tasks": 4, "total_videos": 2970, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:989" }, "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.state": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] }, "action": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "put the black glasses into the black glasses case.\nput the black glasses into the green glasses case.\nput the white glasses into the black glasses case.\nput the white glasses into the green glasses case.", "sub_tasks": [ "Place the glasses case in the center of the table with your left hand.", "Grab the glasses case with your left hand.", "Lift the glasses with your right hand.", "Put the glasses into the case with your right hand.", "Discard.", "Grab the eyeglass frame with your right hand.", "Put the glasses into the case with your left hand.", "end", "Place the glasses on the table with your left hand.", "Close the glasses case with your left hand.", "Grab the frame with your right hand.", "Lift the glasses with your left hand.", "Fold the frame with your right hand.", "Place the glasses case in the center of the table with your right hand.", "Close the glasses case with your right hand.", "Fold the frame with your left hand.", "Grab the glasses with your left hand.", "Grab the glasses case with your right hand.", "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 } ], "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" ] } ], "state": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] } }, "action_space": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "RMC-AIDA-L_glasses_storage_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "glasses_storage", "dataset_uuid": null, "task_descriptions": [ "put the black glasses into the black glasses case.", "put the black glasses into the green glasses case.", "put the white glasses into the black glasses case.", "put the white glasses into the green glasses case." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "fold", "close", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "glasses_case", "level1": "daily_necessities", "level2": "glasses_case", "level3": null, "level4": null, "level5": null }, { "object_name": "glasses", "level1": "daily_necessities", "level2": "glasses", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "realman rmc-aida-l" ], "end_effector_type": "two_finger_gripper" } }, "R1_Lite_washing_board": { "dataset_name": "washing_board", "dataset_uuid": "5321a05d-2861-4198-a91f-b238e2567ee9", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place", "open", "wipe", "close" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "faucet", "level1": "tool", "level2": "faucet", "level3": null, "level4": null, "level5": null }, { "object_name": "sponge", "level1": "daily_necessities", "level2": "sponge", "level3": null, "level4": null, "level5": null }, { "object_name": "cutting_board", "level1": "tool", "level2": "cutting_board", "level3": null, "level4": null, "level5": null }, { "object_name": "sink", "level1": "container", "level2": "sink", "level3": null, "level4": null, "level5": null } ], "path": "R1_Lite_washing_board", "video_url": "./assets/videos/R1_Lite_washing_board.mp4", "thumbnail_url": "./assets/thumbnails/R1_Lite_washing_board.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "6.9GB", "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": "R1_Lite", "codebase_version": "v2.1", "statistics": { "total_episodes": 97, "total_frames": 156103, "total_tasks": 1, "total_videos": 291, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:96" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "turn on tap scrub cutting board with cloth then turn off tap.", "sub_tasks": [ "Pick up the cleaning cloth", "abnormal", "Turn on the tap", "Put down the cutting board", "Put down the cleaning cloth", "Pick up the cutting board", "Turn off the tap", "Scrub the cutting board underwater", "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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "R1_Lite_washing_board_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "washing_board", "dataset_uuid": null, "task_descriptions": [ "turn on tap scrub cutting board with cloth then turn off tap." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place", "open", "wipe", "close" ], "objects": [ { "object_name": "faucet", "level1": "tool", "level2": "faucet", "level3": null, "level4": null, "level5": null }, { "object_name": "sponge", "level1": "daily_necessities", "level2": "sponge", "level3": null, "level4": null, "level5": null }, { "object_name": "cutting_board", "level1": "tool", "level2": "cutting_board", "level3": null, "level4": null, "level5": null }, { "object_name": "sink", "level1": "container", "level2": "sink", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "galaxea_r1_lite" ], "end_effector_type": "two_finger_gripper" } }, "AIRBOT_MMK2_storage_remote_control_clip_box_water_bottle": { "dataset_name": "storage_remote_control_clip_box_water_bottle", "dataset_uuid": "993b81b9-2ebd-44d7-933c-d6d77b2851db", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "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": "remote_control_gripper", "level1": "tool", "level2": "remote_control_gripper", "level3": null, "level4": null, "level5": null }, { "object_name": "mineral_water_bottle", "level1": "container", "level2": "mineral_water_bottle", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null } ], "path": "AIRBOT_MMK2_storage_remote_control_clip_box_water_bottle", "video_url": "./assets/videos/AIRBOT_MMK2_storage_remote_control_clip_box_water_bottle.mp4", "thumbnail_url": "./assets/thumbnails/AIRBOT_MMK2_storage_remote_control_clip_box_water_bottle.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "1K-10K", "dataset_size": "478.8MB", "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": 47, "total_frames": 9890, "total_tasks": 1, "total_videos": 188, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:46" }, "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": "At the same time as picking up the remote control gripper with one hand, the other hand picks up the mineral water bottle; the first hand then puts its item into the box, followed by the other hand doing the same.", "sub_tasks": [ "Place the water bottle into the cardboard box with the right gripper", "End", "Static", "Lift the water bottle with the right gripper", "Grasp the remote control clip with the left gripper ", "Lift the remote control clip with the left gripper ", "Place the remote control clip into the cardboard box with the left gripper", "Abnormal", "Grasp the water bottle with the right 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_storage_remote_control_clip_box_water_bottle_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "storage_remote_control_clip_box_water_bottle", "dataset_uuid": null, "task_descriptions": [ "at the same time as picking up the remote control gripper with the left hand, the right hand picks up the mineral water bottle. the left hand then puts it into the box, then the right hand does the same." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "remote_control_gripper", "level1": "tool", "level2": "remote_control_gripper", "level3": null, "level4": null, "level5": null }, { "object_name": "mineral_water_bottle", "level1": "container", "level2": "mineral_water_bottle", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "airbot mmk2" ], "end_effector_type": "five_finger_hand" } }, "leju_robot_moving_parts_j": { "dataset_name": "moving_parts_j", "dataset_uuid": "a7584581-99dc-4ffb-bc23-e846841a55b7", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "end_effector_type": [ "five_finger_hand" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "cabinet", "level1": "furniture", "level2": "cabinet", "level3": null, "level4": null, "level5": null }, { "object_name": "parts", "level1": "mechanical_parts", "level2": "parts", "level3": null, "level4": null, "level5": null } ], "path": "leju_robot_moving_parts_j", "video_url": "./assets/videos/leju_robot_moving_parts_j.mp4", "thumbnail_url": "./assets/thumbnails/leju_robot_moving_parts_j.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "13.9GB", "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": "leju_robot", "codebase_version": "v2.1", "statistics": { "total_episodes": 153, "total_frames": 223023, "total_tasks": 1, "total_videos": 459, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:152" }, "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.camera_head_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_left_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_right_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "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": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "right_eef_pos_x_m", 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"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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "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": "take the parts from the cabinet and place them on the table.", "sub_tasks": [ "Move to the initial position of the workbench.", "Grasp the gray part with right gripper", "Insert the small component into the corresponding slot on the workbench.", "Move to the table behind body", "Grasp the white part with right gripper", "Place the gray part on the table with right gripper", "Place the white part on the table with right gripper", "End", "Pick up the small component from the shelf.", "Bring the small component to the front of the workbench.", "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.camera_head_rgb", "name": "camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_left_wrist_rgb", "name": "camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_right_wrist_rgb", "name": "camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] } }, "action_space": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "leju_robot_moving_parts_j_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.camera_head_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.camera_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.camera_right_wrist_rgb/\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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "moving_parts_j", "dataset_uuid": null, "task_descriptions": [ "take the parts from the cabinet and place them on the table." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "cabinet", "level1": "furniture", "level2": "cabinet", "level3": null, "level4": null, "level5": null }, { "object_name": "parts", "level1": "mechanical_parts", "level2": "parts", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "leju_robot" ], "end_effector_type": "two_finger_gripper" } }, "AIRBOT_MMK2_storage_wet_tissue_and_building_block": { "dataset_name": "storage_wet_tissue_and_building_block", "dataset_uuid": "1479380b-b15a-4f01-b1f7-6c3842a45d84", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "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": "wet_tissue", "level1": "tool", "level2": "wet_tissue", "level3": null, "level4": null, "level5": null }, { "object_name": "building_block", "level1": "toy", "level2": "building_block", "level3": null, "level4": null, "level5": null }, { "object_name": "platform", "level1": "container", "level2": "platform", "level3": null, "level4": null, "level5": null } ], "path": "AIRBOT_MMK2_storage_wet_tissue_and_building_block", "video_url": "./assets/videos/AIRBOT_MMK2_storage_wet_tissue_and_building_block.mp4", "thumbnail_url": "./assets/thumbnails/AIRBOT_MMK2_storage_wet_tissue_and_building_block.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "335.2MB", "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": 47, "total_frames": 11526, "total_tasks": 1, "total_videos": 188, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:46" }, "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": "Put the wet wipes into the white platform with one hand, and place the arched building blocks into the white platform with the other hand.", "sub_tasks": [ "Place the arch-shaped block on the white board with the right gripper", "Grasp the wet wipe with the left gripper", "Place the wet wipe on the white board with the left gripper", "End", "Grasp the arch-shaped block with the right gripper", "Abnormal", "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_storage_wet_tissue_and_building_block_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "storage_wet_tissue_and_building_block", "dataset_uuid": null, "task_descriptions": [ "put the wet wipes into the white platform with your left hand, place the arched building blocks into the white platform with your right hand." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "wet_tissue", "level1": "tool", "level2": "wet_tissue", "level3": null, "level4": null, "level5": null }, { "object_name": "building_block", "level1": "toy", "level2": "building_block", "level3": null, "level4": null, "level5": null }, { "object_name": "platform", "level1": "container", "level2": "platform", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "airbot mmk2" ], "end_effector_type": "five_finger_hand" } }, "Cobot_Magic_make_hamburger": { "dataset_name": "make_hamburger", "dataset_uuid": "50b8b2d7-4195-4264-a972-36006de4241a", "scene_type": [ "restaurant" ], "atomic_actions": [ "grasp", "place", "pick" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "cheese", "level1": "food", "level2": "cheese", "level3": null, "level4": null, "level5": null }, { "object_name": "lettuce", "level1": "food", "level2": "lettuce", "level3": null, "level4": null, "level5": null }, { "object_name": "bread", "level1": "food", "level2": "bread", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "sliced_bread", "level1": "food", "level2": "sliced_bread", "level3": null, "level4": null, "level5": null }, { "object_name": "meat_pie", "level1": "food", "level2": "meat_pie", "level3": null, "level4": null, "level5": null }, { "object_name": "tomato_slices", "level1": "vegetable", "level2": "tomato_slices", "level3": null, "level4": null, "level5": null } ], "path": "Cobot_Magic_make_hamburger", "video_url": "./assets/videos/Cobot_Magic_make_hamburger.mp4", "thumbnail_url": "./assets/thumbnails/Cobot_Magic_make_hamburger.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "1M-10M", "dataset_size": "46.4GB", "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": "Cobot_Magic", "codebase_version": "v2.1", "statistics": { "total_episodes": 3077, "total_frames": 1596406, "total_tasks": 4, "total_videos": 12308, "total_chunks": 4, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:3076" }, "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_high_realsense_rgb": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_left_wrist_rgb": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_right_wrist_rgb": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.state": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "action": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "timestamp": { "dtype": "float32", "shape": [ 1 ], "names": null }, "frame_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "episode_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "task_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "subtask_annotation": { "names": null, "dtype": "int32", "shape": [ 5 ] }, "scene_annotation": { "names": null, "dtype": "int32", "shape": [ 1 ] }, "eef_sim_pose_state": { "names": [ "left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_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 ] }, "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 ] }, "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 ] } }, "tasks": "make a hamburger with cheese.\nmake a hamburger with lettuce.\nmake a hamburger with cheese and lettuce.\nplace the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.", "sub_tasks": [ "Pick up the bottom bread with the left hand.", "Place the hamburger lid on the cheese slice with the left gripper", "Pick up the tomato slice with the left hand.", "Place the tomato slice on the lettuce leaf with the left gripper", "Place the cutlet on the lettuce leaf with the right gripper", "Place the lettuce leaf on the bottom bread with the right hand.", "Place the hamburger lid on the purple cabbage with the right gripper", "Grab the patty with the right hand.", "Place the cheese slice on the patty with the left hand.", "Place the hamburger lid on the cutlet slice with the left gripper", "Place the tomato slice on the bread slice with the left gripper", "Place the lettuce leaf on the bread slice with the right gripper", "Pick up the hamburger lid with the right gripper", "Place the bottom bread slice on the tray with the left hand.", "End", "Place the tomato slice on the lettuce leaf with the right gripper", "Pick up the cheese slice with the left gripper", "Pick up the meat patty and place it on top of the tomato with the right gripper", "Discard.", "Pick up the tomato slice with the left gripper", "Pick up the bottom bread slice with the left hand.", "Grab the lettuce leaf with the right hand.", "Pick up the lettuce leaf with the right gripper", "Pick up the cutlet with the right gripper", "Place the purple cabbage on the tomato slice with the left gripper", "Place the cutlet on the tomato slice with the right gripper", "Place the bread slice on the tray with the left gripper", "Abnormal", "Pick up the top bread slice with the right hand.", "Place the patty on the tomato slice with the right hand.", "Pick up the purple cabbage with the left gripper", "Place the cheese slice on the cutlet with the left gripper", "Pick up the cheese slice with the left hand.", "Pick up the bread slices and place them on the tray with the left gripper", "Place the purple cabbage on the cutlet with the left gripper", "Place the top bread slice on the cheese with the right hand.", "Place the hamburger lid on the cheese slice with the right gripper", "Pick up the cheese slice with the right gripper", "Place the cheese slice on the cutlet with the right gripper", "Pick up the hamburger lid with the left gripper", "Place the hamburger lid on the cutlet with the right gripper", "Place the lettuce leaf on the bread slice with the right hand.", "Place the tomato slice on the lettuce leaf with the left hand.", "Place the bread on the tray with the left hand.", "Place the tomato slice on the bread slice with the right gripper", "Pick up the bread slice with the left gripper", "Pick up the tomato slice with the right 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_high_realsense_rgb", "name": "cam_high_realsense_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 } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_realsense_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" ] } ], "state": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] } }, "action_space": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Cobot_Magic_make_hamburger_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│ ├── chunk-001/\n│ │ ├── episode_001000.parquet\n│ │ ├── episode_001001.parquet\n│ │ ├── episode_001002.parquet\n│ │ ├── episode_001003.parquet\n│ │ ├── episode_001004.parquet\n│ │ └── (...)\n│ ├── chunk-002/\n│ │ ├── episode_002000.parquet\n│ │ ├── episode_002001.parquet\n│ │ ├── episode_002002.parquet\n│ │ ├── episode_002003.parquet\n│ │ ├── episode_002004.parquet\n│ │ └── (...)\n│ └── chunk-003/\n│ ├── episode_003000.parquet\n│ ├── episode_003001.parquet\n│ ├── episode_003002.parquet\n│ ├── episode_003003.parquet\n│ ├── episode_003004.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_realsense_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_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 ├── chunk-001/\n │ ├── observation.images.cam_high_realsense_rgb/\n │ │ ├── episode_001000.mp4\n │ │ ├── episode_001001.mp4\n │ │ ├── episode_001002.mp4\n │ │ ├── episode_001003.mp4\n │ │ ├── episode_001004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_high_rgb/\n │ │ ├── episode_001000.mp4\n │ │ ├── episode_001001.mp4\n │ │ ├── episode_001002.mp4\n │ │ ├── episode_001003.mp4\n │ │ ├── episode_001004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n │ │ ├── episode_001000.mp4\n │ │ ├── episode_001001.mp4\n │ │ ├── episode_001002.mp4\n │ │ ├── episode_001003.mp4\n │ │ ├── episode_001004.mp4\n │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │ └── (...)\n ├── chunk-002/\n │ ├── observation.images.cam_high_realsense_rgb/\n │ │ ├── episode_002000.mp4\n │ │ ├── episode_002001.mp4\n │ │ ├── episode_002002.mp4\n │ │ ├── episode_002003.mp4\n │ │ ├── episode_002004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_high_rgb/\n │ │ ├── episode_002000.mp4\n │ │ ├── episode_002001.mp4\n │ │ ├── episode_002002.mp4\n │ │ ├── episode_002003.mp4\n │ │ ├── episode_002004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n │ │ ├── episode_002000.mp4\n │ │ ├── episode_002001.mp4\n │ │ ├── episode_002002.mp4\n │ │ ├── episode_002003.mp4\n │ │ ├── episode_002004.mp4\n │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n │ ├── episode_002000.mp4\n │ ├── episode_002001.mp4\n │ ├── episode_002002.mp4\n │ ├── episode_002003.mp4\n │ ├── episode_002004.mp4\n │ └── (...)\n └── chunk-003/\n ├── observation.images.cam_high_realsense_rgb/\n │ ├── episode_003000.mp4\n │ ├── episode_003001.mp4\n │ ├── episode_003002.mp4\n │ ├── episode_003003.mp4\n │ ├── episode_003004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_003000.mp4\n │ ├── episode_003001.mp4\n │ ├── episode_003002.mp4\n │ ├── episode_003003.mp4\n │ ├── episode_003004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_003000.mp4\n │ ├── episode_003001.mp4\n │ ├── episode_003002.mp4\n │ ├── episode_003003.mp4\n │ ├── episode_003004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_003000.mp4\n ├── episode_003001.mp4\n ├── episode_003002.mp4\n ├── episode_003003.mp4\n ├── episode_003004.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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "make_hamburger", "dataset_uuid": null, "task_descriptions": [ "make a hamburger with lettuce.", "make a hamburger with cheese.", "place the sliced bread, cheese, lettuce, meat patties, and tomato slices on a plate.", "make a hamburger with cheese and lettuce." ], "scene_type": [ "restaurant" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "cheese", "level1": "food", "level2": "cheese", "level3": null, "level4": null, "level5": null }, { "object_name": "lettuce", "level1": "food", "level2": "lettuce", "level3": null, "level4": null, "level5": null }, { "object_name": "bread", "level1": "food", "level2": "bread", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "sliced_bread", "level1": "food", "level2": "sliced_bread", "level3": null, "level4": null, "level5": null }, { "object_name": "meat_pie", "level1": "food", "level2": "meat_pie", "level3": null, "level4": null, "level5": null }, { "object_name": "tomato_slices", "level1": "vegetable", "level2": "tomato_slices", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "agilex_cobot_magic_aloha" ], "end_effector_type": "two_finger_gripper" } }, "G1edu-u3_pick_apple_a": { "dataset_name": "pick_apple_a", "dataset_uuid": "6afbbc46-1a5f-434d-bfe5-7a7ae32db479", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick" ], "end_effector_type": [ "three_finger_hand" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "apple", "level1": "food", "level2": "apple", "level3": null, "level4": null, "level5": null } ], "path": "G1edu-u3_pick_apple_a", "video_url": "./assets/videos/G1edu-u3_pick_apple_a.mp4", "thumbnail_url": "./assets/thumbnails/G1edu-u3_pick_apple_a.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "208.4MB", "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": "G1edu-u3", "codebase_version": "v2.1", "statistics": { "total_episodes": 40, "total_frames": 15439, "total_tasks": 1, "total_videos": 40, "total_chunks": 1, "chunks_size": 40, "fps": 30 }, "splits": { "train": "0:39" }, "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.ego_view": { "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.state": { "dtype": "float32", "shape": [ 30 ], "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": [ 30 ], "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": "float64", "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": "Pick up the red apple\nPick up the red apple\nPick up the water bottle\nPick up the water bottle\nPick up the white cup\nPick up the lemon\nPlace the red apple\nPlace the red apple in the basket\nPlace the red apple on the blue rectangle plate\nPlace the red apple on the orange round plate\nPlace the water bottle\nPlace the water bottle\nPlace the white cup\nPlace the lemon on the blue rectangle plate\nPlace the lemon on the orange round plate", "sub_tasks": [ "End", "Grasp the apple and lift it to the center of the view with right gripper", "Grasp the apple and lift it to the center of the view with 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.ego_view", "name": "ego_view", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.ego_view", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channel" ] } ], "state": { "dtype": "float32", "shape": [ 30 ], "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_space": { "dtype": "float32", "shape": [ 30 ], "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "G1edu-u3_pick_apple_a_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.ego_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "pick_apple_a", "dataset_uuid": null, "task_descriptions": [ "pick up the apple on the table." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "apple", "level1": "food", "level2": "apple", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "unitree_g1" ], "end_effector_type": "three_finger_hand" } }, "AIRBOT_MMK2_storage_tissue_paper": { "dataset_name": "storage_tissue_paper", "dataset_uuid": "22dc3be9-588c-4288-b3a3-5176c69a5f71", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "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": "tissue_paper", "level1": "daily_necessities", "level2": "tissue_paper", "level3": null, "level4": null, "level5": null }, { "object_name": "basin", "level1": "container", "level2": "basin", "level3": null, "level4": null, "level5": null } ], "path": "AIRBOT_MMK2_storage_tissue_paper", "video_url": "./assets/videos/AIRBOT_MMK2_storage_tissue_paper.mp4", "thumbnail_url": "./assets/thumbnails/AIRBOT_MMK2_storage_tissue_paper.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "1K-10K", "dataset_size": "211.2MB", "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": 50, "total_frames": 6980, "total_tasks": 1, "total_videos": 200, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:49" }, "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": "Pick up one pack of tissue paper from the table and place it in the basin, then pick up another pack from the table and place it in the basin.", "sub_tasks": [ "Static", "Place the tissue into the brown basin with the left gripper", "End", "Abnormal", "Place the tissue into the brown basin with the right gripper", "Grasp the tissue with the right gripper", "Grasp the tissue 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_storage_tissue_paper_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "storage_tissue_paper", "dataset_uuid": null, "task_descriptions": [ "pick up the tissue paper from the table with your left hand and place it in the basin. then, pick up another pack of tissue paper from the table with your right hand and place it in the basin." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "tissue_paper", "level1": "daily_necessities", "level2": "tissue_paper", "level3": null, "level4": null, "level5": null }, { "object_name": "basin", "level1": "container", "level2": "basin", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "airbot mmk2" ], "end_effector_type": "five_finger_hand" } }, "RMC-AIDA-L_stack_baskets": { "dataset_name": "stack_baskets", "dataset_uuid": "d4c26606-f766-48ca-befd-dbdeead83a95", "scene_type": [], "atomic_actions": [], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [], "path": "RMC-AIDA-L_stack_baskets", "video_url": "./assets/videos/RMC-AIDA-L_stack_baskets.mp4", "thumbnail_url": "./assets/thumbnails/RMC-AIDA-L_stack_baskets.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "3.8GB", "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": "RMC-AIDA-L", "codebase_version": "v2.1", "statistics": { "total_episodes": 484, "total_frames": 278342, "total_tasks": 2, "total_videos": 1452, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:483" }, "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.state": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] }, "action": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "put the brown basket on top of the yellow basket.\nput the yellow basket on top of the brown basket.", "sub_tasks": [ "Pick up the light basket with the right gripper", "Place the light basket in the center of the table with left gripper", "Pick up the dark basket with the left gripper", "Pick up the dark basket with the right gripper", "abnormal", "Grasp the dark basket with right gripper", "Place the dark basket in the center of view with the left gripper", "Pick up the light basket with the left gripper", "End", "Place the dark basket on the light basket with right gripper", "Place the light basket in the center of view with the left gripper", "Place the dark basket on the light basket with the right gripper", "Grasp the light basket with left gripper", "Place the light basket on the dark basket with the right 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 } ], "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" ] } ], "state": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] } }, "action_space": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "RMC-AIDA-L_stack_baskets_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": {} }, "G1edu-u3_pick_plastic_bowl_ad": { "dataset_name": "pick_plastic_bowl_ad", "dataset_uuid": "2efbcfc7-6d0c-4d2f-873c-534fe35c6c26", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick" ], "end_effector_type": [ "three_finger_hand" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "plastic_bowl", "level1": "container", "level2": "plastic_bowl", "level3": null, "level4": null, "level5": null } ], "path": "G1edu-u3_pick_plastic_bowl_ad", "video_url": "./assets/videos/G1edu-u3_pick_plastic_bowl_ad.mp4", "thumbnail_url": "./assets/thumbnails/G1edu-u3_pick_plastic_bowl_ad.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "144.0MB", "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": "G1edu-u3", "codebase_version": "v2.1", "statistics": { "total_episodes": 32, "total_frames": 10038, "total_tasks": 1, "total_videos": 32, "total_chunks": 1, "chunks_size": 33, "fps": 30 }, "splits": { "train": "0:31" }, "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.ego_view": { "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.state": { "dtype": "float32", "shape": [ 30 ], "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": [ 30 ], "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": "float64", "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": "Pick up the crumpled paper\nPick up the empty bottle\nPick up the leftover food\nPick up the metal bowl\nPick up the metal bowl\nPick up the plastic bowl\nPick up the plastic bowl\nPlace the metal bowl\nPlace the metal bowl\nPlace the plastic bowl\nPlace the plastic bowl", "sub_tasks": [ "Grasp the plastic bowl and lift it to the center of the view with left gripper", "End", "Grasp the plastic bowl and lift it to the center of the view with right 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.ego_view", "name": "ego_view", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.ego_view", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channel" ] } ], "state": { "dtype": "float32", "shape": [ 30 ], "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_space": { "dtype": "float32", "shape": [ 30 ], "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "G1edu-u3_pick_plastic_bowl_ad_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.ego_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "pick_plastic_bowl_ad", "dataset_uuid": null, "task_descriptions": [ "pick up the plastic bowl on the table." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "plastic_bowl", "level1": "container", "level2": "plastic_bowl", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "unitree_g1" ], "end_effector_type": "three_finger_hand" } }, "AgiBot-g1_battery_storage_c": { "dataset_name": "battery_storage_c", "dataset_uuid": "b2a4e622-affe-407e-9e15-b94e3a5cf225", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "battery", "level1": "electronic_products", "level2": "battery", "level3": null, "level4": null, "level5": null } ], "path": "AgiBot-g1_battery_storage_c", "video_url": "./assets/videos/AgiBot-g1_battery_storage_c.mp4", "thumbnail_url": "./assets/thumbnails/AgiBot-g1_battery_storage_c.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "18.3GB", "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": "AgiBot-g1", "codebase_version": "v2.1", "statistics": { "total_episodes": 57, "total_frames": 34166, "total_tasks": 1, "total_videos": 456, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:56" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "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, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_back_left_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_back_right_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_center_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_left_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_right_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "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": [ 41 ], "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open", "robot_pos_x_m", "robot_pos_y_m", "robot_pos_z_m", "robot_quat_x", "robot_quat_y", "robot_quat_z", "robot_quat_w" ] }, "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", "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_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 }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "place the batteries in the box on the table.", "sub_tasks": [ "End", "Grab and lift the power supply from the large box.", "Place the battery on the shelf", "Grasp the battery", "Place the power supply on the operating table.", "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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_back_left_fisheye_rgb", "name": "cam_back_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_back_right_fisheye_rgb", "name": "cam_back_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_center_fisheye_rgb", "name": "cam_high_center_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_left_fisheye_rgb", "name": "cam_high_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_right_fisheye_rgb", "name": "cam_high_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_back_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_back_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_center_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 41 ], "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open", "robot_pos_x_m", "robot_pos_y_m", "robot_pos_z_m", "robot_quat_x", "robot_quat_y", "robot_quat_z", "robot_quat_w" ] } }, "action_space": { "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", "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "AgiBot-g1_battery_storage_c_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_back_left_fisheye_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_back_right_fisheye_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_high_center_fisheye_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_high_left_fisheye_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_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_high_right_fisheye_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "battery_storage_c", "dataset_uuid": null, "task_descriptions": [ "place the batteries in the box on the table." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "battery", "level1": "electronic_products", "level2": "battery", "level3": null, "level4": null, "level5": null } ], "-operation_platform_height": null, "device_model": [ "ruantong_a2d" ], "end_effector_type": "two_finger_gripper" } }, "AIRBOT_MMK2_building_block_storage": { "dataset_name": "building_block_storage", "dataset_uuid": "55a64137-7092-451d-8a70-b22ff2383b33", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "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": "building_block", "level1": "toy", "level2": "building_block", "level3": null, "level4": null, "level5": null }, { "object_name": "toy_circle", "level1": "toy", "level2": "toy_circle", "level3": null, "level4": null, "level5": null }, { "object_name": "building_block_base", "level1": "toy", "level2": "building_block_base", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null } ], "path": "AIRBOT_MMK2_building_block_storage", "video_url": "./assets/videos/AIRBOT_MMK2_building_block_storage.mp4", "thumbnail_url": "./assets/thumbnails/AIRBOT_MMK2_building_block_storage.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "1.4GB", "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": 244, "total_frames": 38573, "total_tasks": 5, "total_videos": 976, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:243" }, "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": "Take the rectangular building blocks out of the plate with one hand, and then take the remaining rectangular building blocks out of the plate with the other hand.\npick up the building blocks on the table with both hands simultaneously and place them on the plate.\nPick up one yellow building block from the table and put it in the blue circle, and then pick up the other yellow building block from the table and put it in the blue circle.\nPick up the green cylinder from the table and put it in the paper box, then pick up the red cylinder from the table and put it in the paper box.\nPick up the cylindrical building block from the table and place it on the corresponding block base.", "sub_tasks": [ "Place the green cylinder in the box with the left gripper", "Grasp the green cylinder with the left gripper", "Grasp the red cylinder with the right gripper", "Abnormal", "Grasp the red rectangular block on the plate with the left gripper", "Place the green coil on the wooden pillar with the right gripper", "Place the yellow block in the blue circle with the left gripper", "End", "Grasp the yellow block with the rightt gripper", "Grasp the green coil with the right gripper", "Grasp the green rectangular block on the plate with the right gripper", "Place the red cylinder in the box with the right gripper", "Place the yellow block in the blue circle with the right gripper", "Place red rectangular block on the table with the left gripper", "Place green rectangular block on the table with the right gripper", "Grasp the yellow block 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_building_block_storage_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "building_block_storage", "dataset_uuid": null, "task_descriptions": [ "pick up the yellow building block on the left side of the table with your left hand and put it in the blue circle, and then pick up the yellow building block on the right side of the table and put it in the blue circle with your right hand.", "pick up the cylindrical building block from the table with your right hand and place it on the corresponding block base.", "pick up the green cylinder on the left side of the table with your left hand and put it in the paper box, then pick up the red cylinder on the right side of the table and put it in the paper box with your right hand.", "pick up the building blocks on the table with both hands simultaneously and place them on the plate.", "take the rectangular building blocks out of the plate with your left hand, and then take the rectangular building blocks out of the plate with your right hand." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "building_block", "level1": "toy", "level2": "building_block", "level3": null, "level4": null, "level5": null }, { "object_name": "toy_circle", "level1": "toy", "level2": "toy_circle", "level3": null, "level4": null, "level5": null }, { "object_name": "building_block_base", "level1": "toy", "level2": "building_block_base", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "discover_robotics_aitbot_mmk2" ], "end_effector_type": "two_finger_gripper" } }, "Cobot_Magic_drawer_storage_mineral_water": { "dataset_name": "drawer_storage_mineral_water", "dataset_uuid": "b3ab23c8-c660-442b-a379-1dad52a7e701", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place", "pull", "push" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "mineral_water", "level1": "drink", "level2": "mineral_water", "level3": null, "level4": null, "level5": null }, { "object_name": "drawer", "level1": "container", "level2": "drawer", "level3": null, "level4": null, "level5": null } ], "path": "Cobot_Magic_drawer_storage_mineral_water", "video_url": "./assets/videos/Cobot_Magic_drawer_storage_mineral_water.mp4", "thumbnail_url": "./assets/thumbnails/Cobot_Magic_drawer_storage_mineral_water.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "944.2MB", "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": "Cobot_Magic", "codebase_version": "v2.1", "statistics": { "total_episodes": 99, "total_frames": 55966, "total_tasks": 1, "total_videos": 297, "total_chunks": 1, "chunks_size": 1000, "fps": 50 }, "splits": { "train": "0:98" }, "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": 50, "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": 50, "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": 50, "video.channels": 3, "has_audio": false } }, "observation.state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "open the drawer, place the mineral water bottle inside, then close the drawer.", "sub_tasks": [ "Close the drawer", "Open the drawer", "Place the water bottle inside the drawer", "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": 50, "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": 50, "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": 50, "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" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Cobot_Magic_drawer_storage_mineral_water_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "drawer_storage_mineral_water", "dataset_uuid": null, "task_descriptions": [ "open drawer place mineral water bottle inside close drawer." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place", "pull", "push" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "mineral_water", "level1": "drink", "level2": "mineral_water", "level3": null, "level4": null, "level5": null }, { "object_name": "drawer", "level1": "container", "level2": "drawer", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "agilex_cobot_magic_aloha" ], "end_effector_type": "two_finger_gripper" } }, "AgiBot-g1_left_capture_part": { "dataset_name": "left_capture_part", "dataset_uuid": "66d07878-2211-48d2-8cd0-1df8f2cd83a3", "scene_type": [ "factory" ], "atomic_actions": [ "grasp" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "part", "level1": "tool", "level2": "part", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "black_container", "level1": "tool", "level2": "black_container", "level3": null, "level4": null, "level5": null } ], "path": "AgiBot-g1_left_capture_part", "video_url": "./assets/videos/AgiBot-g1_left_capture_part.mp4", "thumbnail_url": "./assets/thumbnails/AgiBot-g1_left_capture_part.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "97.3GB", "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": "AgiBot-g1", "codebase_version": "v2.1", "statistics": { "total_episodes": 464, "total_frames": 174563, "total_tasks": 1, "total_videos": 3712, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:463" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "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, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_center_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_left_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_right_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_back_left_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_back_right_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "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": [ 41 ], "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open", "robot_pos_x_m", "robot_pos_y_m", "robot_pos_z_m", "robot_quat_x", "robot_quat_y", "robot_quat_z", "robot_quat_w" ] }, "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", "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_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 }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "Grasp the part with one hand and place it on the black container.", "sub_tasks": [ "Pick up the front USB bracket from the feeding area.", "Place the front USB bracket into the box.", "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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_center_fisheye_rgb", "name": "cam_high_center_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_left_fisheye_rgb", "name": "cam_high_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_right_fisheye_rgb", "name": "cam_high_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_back_left_fisheye_rgb", "name": "cam_back_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_back_right_fisheye_rgb", "name": "cam_back_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_center_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_back_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_back_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 41 ], "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open", "robot_pos_x_m", "robot_pos_y_m", "robot_pos_z_m", "robot_quat_x", "robot_quat_y", "robot_quat_z", "robot_quat_w" ] } }, "action_space": { "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", "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "AgiBot-g1_left_capture_part_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_back_left_fisheye_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_back_right_fisheye_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_high_center_fisheye_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_high_left_fisheye_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_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_high_right_fisheye_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "left_capture_part", "dataset_uuid": null, "task_descriptions": [ "grasp the part with your left hand and place them on the black container." ], "scene_type": [ "factory" ], "atomic_actions": [ "grasp" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "part", "level1": "tool", "level2": "part", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null }, { "object_name": "black_container", "level1": "tool", "level2": "black_container", "level3": null, "level4": null } ], "operation_platform_height": null, "device_model": [ "tianqing_a2d" ], "end_effector_type": "two_finger_gripper" } }, "R1_Lite_take_clothes_out_of_the_washing_machine": { "dataset_name": "take_clothes_out_of_the_washing_machine", "dataset_uuid": "75315916-19f4-400c-99a4-2bd123e2a42a", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "washing_machine", "level1": "electrical_appliances", "level2": "washing_machine", "level3": null, "level4": null, "level5": null }, { "object_name": "basket", "level1": "container", "level2": "basket", "level3": null, "level4": null, "level5": null }, { "object_name": "cloth", "level1": "clothing", "level2": "cloth", "level3": null, "level4": null, "level5": null } ], "path": "R1_Lite_take_clothes_out_of_the_washing_machine", "video_url": "./assets/videos/R1_Lite_take_clothes_out_of_the_washing_machine.mp4", "thumbnail_url": "./assets/thumbnails/R1_Lite_take_clothes_out_of_the_washing_machine.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "16.1GB", "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": "R1_Lite", "codebase_version": "v2.1", "statistics": { "total_episodes": 114, "total_frames": 238333, "total_tasks": 1, "total_videos": 342, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:113" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "Open the washing machine, take out the clothes from inside and put them in the basket, then close the door of the washing machine.", "sub_tasks": [ "Press the washing machine switch", "Close the washing machine door with the right hand", "Open the lid of the washing machine", "Close the washing machine door with the left hand", "Pick a cloth and place it into the basket", "Place the clothes into the washing machine", "End", "Press the washing machine door tightly with the right hand", "abnormal", "Pick up the clothes basket and put it beside the washing machine", "Move to the front of the washing machine", "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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "R1_Lite_take_clothes_out_of_the_washing_machine_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "take_clothes_out_of_the_washing_machine", "dataset_uuid": null, "task_descriptions": [ "turn on washer put clothes in then take out to basket." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "washing_machine", "level1": "electrical_appliances", "level2": "washing_machine", "level3": null, "level4": null, "level5": null }, { "object_name": "basket", "level1": "container", "level2": "basket", "level3": null, "level4": null, "level5": null }, { "object_name": "cloth", "level1": "clothing", "level2": "cloth", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "galaxea_r1_lite" ], "end_effector_type": "two_finger_gripper" } }, "Cobot_Magic_move_the_bread": { "dataset_name": "move_the_bread", "dataset_uuid": "0279dfc1-8833-47b1-b5de-c7b01c3aef4c", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "bread", "level1": "food", "level2": "bread", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null } ], "path": "Cobot_Magic_move_the_bread", "video_url": "./assets/videos/Cobot_Magic_move_the_bread.mp4", "thumbnail_url": "./assets/thumbnails/Cobot_Magic_move_the_bread.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "981.4MB", "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": "Cobot_Magic", "codebase_version": "v2.1", "statistics": { "total_episodes": 99, "total_frames": 57401, "total_tasks": 1, "total_videos": 297, "total_chunks": 1, "chunks_size": 1000, "fps": 50 }, "splits": { "train": "0:98" }, "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": 50, "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": 50, "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": 50, "video.channels": 3, "has_audio": false } }, "observation.state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "grasp the yellow bread and place it into the yellow plate, then retrieve it.", "sub_tasks": [ "Pick the yellow bread on the yellow plate", "Place the yellow bread on the table", "Place the picked object on the yellow plate", "Grasp the yellow bread on the table", "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": 50, "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": 50, "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": 50, "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" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Cobot_Magic_move_the_bread_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "move_the_bread", "dataset_uuid": null, "task_descriptions": [ "grasp red bread place into yellow plate retrieve it." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "bread", "level1": "food", "level2": "bread", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "agilex_cobot_decoupled_magic" ], "end_effector_type": "two_finger_gripper" } }, "RMC-AIDA-L_basket_storage_long_bread": { "dataset_name": "basket_storage_long_bread", "dataset_uuid": "2a54716c-882f-4e89-a882-50b8c7b5b821", "scene_type": [ "home", "kitchen" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "long_bread", "level1": "food", "level2": "long_bread", "level3": null, "level4": null, "level5": null }, { "object_name": "basket", "level1": "container", "level2": "basket", "level3": null, "level4": null, "level5": null } ], "path": "RMC-AIDA-L_basket_storage_long_bread", "video_url": "./assets/videos/RMC-AIDA-L_basket_storage_long_bread.mp4", "thumbnail_url": "./assets/thumbnails/RMC-AIDA-L_basket_storage_long_bread.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "3.9GB", "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": "RMC-AIDA-L", "codebase_version": "v2.1", "statistics": { "total_episodes": 753, "total_frames": 343253, "total_tasks": 6, "total_videos": 2259, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:752" }, "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.state": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] }, "action": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "the left gripper pick up the basket to the appropriate position, the right gripper pick up the long bread and place it into the basket.\nthe right gripper pick up the basket to the appropriate position, the left gripper pick up the long bread and place it into the basket.\nthe left gripper pick up the black basket and place it horizontally in the middle of the table, the right gripper pick up the long bread and place it into the black basket.\nthe right gripper pick up the black basket and place it horizontally in the middle of the table, the left gripper pick up the long bread and place it into the black basket.\nthe left gripper pick up the yellow basket and place it horizontally in the middle of the table, the right gripper pick up the long bread and place it into the yellow basket.\nthe right gripper pick up the yellow basket and place it horizontally in the middle of the table, the left gripper pick up the long bread and place it into the yellow basket.", "sub_tasks": [ "Place the long bread into the basket with the left gripper", "Place the long bread into the dark basket with the right gripper", "Place the light basket in the center of view with the left gripper", "Place the long bread into the light basket with the right gripper", "Place the basket in the center of the table with the left gripper", "Pick up the basket with the left gripper", "Grasp the long bread with right gripper", "Place the long bread into the light basket with the left gripper", "Place the basket in the center of view with the left gripper", "Pick up the light basket with the left gripper", "Place the long bread into the dark basket with the left gripper", "Place the light basket in the center of view with the right gripper", "Place the dark basket in the center of view with the right gripper", "Abnormal", "Move the light basket to the center of view with the left gripper", "Pick up the basket with the right gripper", "Place the basket in the center of view with the right gripper", "Place the long bread in the basket with right gripper", "End", "Place the dark basket in the center of view with the left gripper", "Pick up the light basket with the right gripper", "Place the long bread into the basket with the right gripper", "Grasp the basket with the left gripper", "Static", "Pick up the long bread with the right gripper", "Pick up the dark basket with the left gripper", "Pick up the long bread with the left gripper", "Pick up the dark basket with the right 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 } ], "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" ] } ], "state": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] } }, "action_space": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "RMC-AIDA-L_basket_storage_long_bread_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "basket_storage_long_bread", "dataset_uuid": null, "task_descriptions": [ "the left gripper pick up the basket to the appropriate position, the right gripper pick up the long bread and place it into the basket.", "the left gripper pick up the black basket and place it horizontally in the middle of the table, the right gripper pick up the long bread and place it into the black basket.", "the left gripper pick up the yellow basket and place it horizontally in the middle of the table, the right gripper pick up the long bread and place it into the yellow basket.", "the right gripper pick up the basket to the appropriate position, the left gripper pick up the long bread and place it into the basket.", "the right gripper pick up the black basket and place it horizontally in the middle of the table, the left gripper pick up the long bread and place it into the black basket.", "the right gripper pick up the yellow basket and place it horizontally in the middle of the table, the left gripper pick up the long bread and place it into the yellow basket." ], "scene_type": [ "home", "kitchen" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "long_bread", "level1": "food", "level2": "long_bread", "level3": null, "level4": null, "level5": null }, { "object_name": "basket", "level1": "container", "level2": "basket", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "realman_rmc_aidal" ], "end_effector_type": "two_finger_gripper" } }, "leju_robot_hotel_services_ah": { "dataset_name": "hotel_services_ah", "dataset_uuid": "d6db4bde-0fc4-4f4c-b80a-f12034b9d043", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "five_finger_hand" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "card", "level1": "nfc", "level2": "card", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "sensor", "level1": "electronic_products", "level2": "sensor", "level3": null, "level4": null, "level5": null } ], "path": "leju_robot_hotel_services_ah", "video_url": "./assets/videos/leju_robot_hotel_services_ah.mp4", "thumbnail_url": "./assets/thumbnails/leju_robot_hotel_services_ah.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "1K-10K", "dataset_size": "542.6MB", "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": "leju_robot", "codebase_version": "v2.1", "statistics": { "total_episodes": 44, "total_frames": 8145, "total_tasks": 1, "total_videos": 132, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:43" }, "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.camera_head_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_left_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_right_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "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": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] }, "action": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "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": "Pick up the card and hand it to the target person.", "sub_tasks": [ "Pick up the key card from the card box.", "Hand the key card to the target.", "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.camera_head_rgb", "name": "camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_left_wrist_rgb", "name": "camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_right_wrist_rgb", "name": "camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] } }, "action_space": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "leju_robot_hotel_services_ah_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.camera_head_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.camera_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.camera_right_wrist_rgb/\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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "hotel_services_ah", "dataset_uuid": null, "task_descriptions": [ "take out the card place it on the sensor for recognition and then transfer it." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "card", "level1": "nfc", "level2": "card", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "sensor", "level1": "electronic_products", "level2": "sensor", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "leju_robot" ], "end_effector_type": "two_finger_gripper" } }, "AgiBot-g1_box_storage_e": { "dataset_name": "box_storage_e", "dataset_uuid": "6fc368f2-1d50-44e7-ab39-3a3405e14efc", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "carton", "level1": "container", "level2": "carton", "level3": null, "level4": null, "level5": null } ], "path": "AgiBot-g1_box_storage_e", "video_url": "./assets/videos/AgiBot-g1_box_storage_e.mp4", "thumbnail_url": "./assets/thumbnails/AgiBot-g1_box_storage_e.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "13.0GB", "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": "AgiBot-g1", "codebase_version": "v2.1", "statistics": { "total_episodes": 58, "total_frames": 33264, "total_tasks": 1, "total_videos": 464, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:57" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "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, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_back_left_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_back_right_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_center_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_left_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_right_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "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": [ 41 ], "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open", "robot_pos_x_m", "robot_pos_y_m", "robot_pos_z_m", "robot_quat_x", "robot_quat_y", "robot_quat_z", "robot_quat_w" ] }, "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", "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_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 }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "place the small box on the table into the large box on the left.", "sub_tasks": [ "Place the mouse and the power cord paper box into the container.", "Pick up the mouse and the power cord paper box.", "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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_back_left_fisheye_rgb", "name": "cam_back_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_back_right_fisheye_rgb", "name": "cam_back_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_center_fisheye_rgb", "name": "cam_high_center_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_left_fisheye_rgb", "name": "cam_high_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_right_fisheye_rgb", "name": "cam_high_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_back_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_back_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_center_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 41 ], "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open", "robot_pos_x_m", "robot_pos_y_m", "robot_pos_z_m", "robot_quat_x", "robot_quat_y", "robot_quat_z", "robot_quat_w" ] } }, "action_space": { "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", "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "AgiBot-g1_box_storage_e_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_back_left_fisheye_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_back_right_fisheye_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_high_center_fisheye_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_high_left_fisheye_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_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_high_right_fisheye_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "box_storage_e", "dataset_uuid": null, "task_descriptions": [ "using a robotic arm to pick up a cardboard box and place it into the carton." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "carton", "level1": "container", "level2": "carton", "level3": null, "level4": null, "level5": null } ], "-operation_platform_height": null, "device_model": [ "tianqing_a2d" ], "end_effector_type": "two_finger_gripper" } }, "leju_robot_moving_parts_a": { "dataset_name": "moving_parts_a", "dataset_uuid": "e595bb4f-5c6e-4271-9364-10c9f3f695b0", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "end_effector_type": [ "five_finger_hand" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "cabinet", "level1": "furniture", "level2": "cabinet", "level3": null, "level4": null, "level5": null }, { "object_name": "parts", "level1": "mechanical_parts", "level2": "parts", "level3": null, "level4": null, "level5": null } ], "path": "leju_robot_moving_parts_a", "video_url": "./assets/videos/leju_robot_moving_parts_a.mp4", "thumbnail_url": "./assets/thumbnails/leju_robot_moving_parts_a.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "34.2GB", "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": "leju_robot", "codebase_version": "v2.1", "statistics": { "total_episodes": 380, "total_frames": 557980, "total_tasks": 1, "total_videos": 1140, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:379" }, "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.camera_head_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_left_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_right_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "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": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] }, "action": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "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": "take the parts from the cabinet and place them on the table.", "sub_tasks": [ "Grasp the gray part with right gripper", "Move to the table behind body", "Grasp the white part with right gripper", "Grasp the white part with left gripper", "Place the gray part on the table with right gripper", "Place the white part on the table with left gripper", "Place the white part on the table with right gripper", "End", "Move to the initial position at the workbench.", "Insert the small parts into the corresponding holes on the workbench.", "Pick up the small parts from the shelf.", "Move the small parts to the workbench.", "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.camera_head_rgb", "name": "camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_left_wrist_rgb", "name": "camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_right_wrist_rgb", "name": "camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] } }, "action_space": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "leju_robot_moving_parts_a_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.camera_head_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.camera_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.camera_right_wrist_rgb/\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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "moving_parts_a", "dataset_uuid": null, "task_descriptions": [ "take the parts from the cabinet and place them on the table." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "cabinet", "level1": "furniture", "level2": "cabinet", "level3": null, "level4": null, "level5": null }, { "object_name": "parts", "level1": "mechanical_parts", "level2": "parts", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "leju_robot" ], "end_effector_type": "two_finger_gripper" } }, "leju_robot_hotel_services_ag": { "dataset_name": "hotel_services_ag", "dataset_uuid": "fe6eebfa-58f5-4409-aad8-bc8aa39381cc", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "five_finger_hand" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "card", "level1": "nfc", "level2": "card", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "sensor", "level1": "electronic_products", "level2": "sensor", "level3": null, "level4": null, "level5": null } ], "path": "leju_robot_hotel_services_ag", "video_url": "./assets/videos/leju_robot_hotel_services_ag.mp4", "thumbnail_url": "./assets/thumbnails/leju_robot_hotel_services_ag.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "4.6GB", "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": "leju_robot", "codebase_version": "v2.1", "statistics": { "total_episodes": 428, "total_frames": 72556, "total_tasks": 1, "total_videos": 1284, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:427" }, "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.camera_head_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_left_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_right_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "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": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] }, "action": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "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": "take out the card place it on the sensor for recognition and then transfer it.", "sub_tasks": [ "Pick up the key card from the card box.", "Hand the key card to the target.", "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.camera_head_rgb", "name": "camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_left_wrist_rgb", "name": "camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_right_wrist_rgb", "name": "camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] } }, "action_space": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "leju_robot_hotel_services_ag_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.camera_head_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.camera_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.camera_right_wrist_rgb/\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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "hotel_services_ag", "dataset_uuid": null, "task_descriptions": [ "pick room card from front box and give room card." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "card", "level1": "nfc", "level2": "card", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "sensor", "level1": "electronic_products", "level2": "sensor", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "leju_kuavo_4_pro" ], "end_effector_type": "five_finger_gripper" } }, "Split_aloha_basket_storage_banana": { "dataset_name": "basket_storage_banana", "dataset_uuid": "e9d8e155-1dc0-4402-b406-4b59d65884c7", "scene_type": [ "home", "kitchen" ], "atomic_actions": [ "grasp", "place", "pick" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "banana", "level1": "fruit", "level2": "banana", "level3": null, "level4": null, "level5": null }, { "object_name": "basket", "level1": "container", "level2": "basket", "level3": null, "level4": null, "level5": null } ], "path": "Split_aloha_basket_storage_banana", "video_url": "./assets/videos/Split_aloha_basket_storage_banana.mp4", "thumbnail_url": "./assets/thumbnails/Split_aloha_basket_storage_banana.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "2.8GB", "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": "Split_aloha", "codebase_version": "v2.1", "statistics": { "total_episodes": 368, "total_frames": 164327, "total_tasks": 1, "total_videos": 1104, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:367" }, "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.state": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "action": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "timestamp": { "dtype": "float32", "shape": [ 1 ], "names": null }, "frame_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "episode_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "task_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "subtask_annotation": { "names": null, "dtype": "int32", "shape": [ 5 ] }, "scene_annotation": { "names": null, "dtype": "int32", "shape": [ 1 ] }, "eef_sim_pose_state": { "names": [ "left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_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 ] }, "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 ] }, "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 ] } }, "tasks": "pick up the banana and put it into the basket.", "sub_tasks": [ "End", "Place the banana in the basket with right gripper", "Grasp the banana with right gripper", "Place the basket in the center of the table with the left gripper", "Grasp the basket with the left gripper", "Static", "Abnormal", "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 } ], "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" ] } ], "state": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] } }, "action_space": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Split_aloha_basket_storage_banana_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "basket_storage_banana", "dataset_uuid": null, "task_descriptions": [ "pick up the banana and put it into the basket." ], "scene_type": [ "home", "kitchen" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "banana", "level1": "fruit", "level2": "banana", "level3": null, "level4": null, "level5": null }, { "object_name": "basket", "level1": "container", "level2": "basket", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "agilex_cobot_decoupled_magic" ], "end_effector_type": "two_finger_gripper" } }, "Cobot_Magic_classification_of_fruits_and_vegetables": { "dataset_name": "classification_of_fruits_and_vegetables", "dataset_uuid": "792e3e06-8f5e-444d-9a30-740d091a9209", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "tablecloth", "level1": "clothing", "level2": "tablecloth", "level3": null, "level4": null, "level5": null }, { "object_name": "white_carrot", "level1": "vegetables", "level2": "white_carrot", "level3": null, "level4": null, "level5": null }, { "object_name": "eggplant", "level1": "vegetables", "level2": "eggplant", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null } ], "path": "Cobot_Magic_classification_of_fruits_and_vegetables", "video_url": "./assets/videos/Cobot_Magic_classification_of_fruits_and_vegetables.mp4", "thumbnail_url": "./assets/thumbnails/Cobot_Magic_classification_of_fruits_and_vegetables.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "9.7GB", "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": "Cobot_Magic", "codebase_version": "v2.1", "statistics": { "total_episodes": 301, "total_frames": 183132, "total_tasks": 4, "total_videos": 903, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:300" }, "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_front_rgb": { "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "on blue tablecloth alternately place white carrots eggplants in plates of different colors.\non brown tablecloth alternately place white carrots eggplants in plates of different colors.\non green tablecloth alternately place white carrots eggplants in plates of different colors.\non pink tablecloth alternately place white carrots eggplants in plates of different colors.", "sub_tasks": [ "use the left arm to grab a carrot and put it into the right plate", "use the right arm to grab a radish and put it into the right plate", "use the left arm to grab a radish and put it into the right plate", "use the left arm to grab an eggplant and put it into the left plate", "use the right arm to grab a chayote and put it into the right plate", "use the left arm to grab a tomato and put it into the left plate", "use the right arm to grab a radish and put it into the left plate", "use the left arm to grab a radish and put it into the left plate", "use the left arm to grab a chayote and put it into the right plate", "use the left arm to grab a chayote and put it into the left plate", "use the right arm to grab an eggplant and put it into the left plate", "use the left arm to grab an eggplant and put it into the right plate", "use the right arm to grab a carrot and put it into the right plate", "use the left arm to grab a carrot and put it into the left plate", "use the right arm to grab a carrot and put it into the left plate", "use the right arm to grab a tomato and put it into the left plate", "use the right arm to grab an eggplant and put it into the right plate", "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_front_rgb", "name": "cam_front_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_front_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Cobot_Magic_classification_of_fruits_and_vegetables_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_front_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "classification_of_fruits_and_vegetables", "dataset_uuid": null, "task_descriptions": [ "on blue tablecloth alternately place white carrots eggplants in plates of different colors.", "on brown tablecloth alternately place white carrots eggplants in plates of different colors.", "on green tablecloth alternately place white carrots eggplants in plates of different colors.", "on pink tablecloth alternately place white carrots eggplants in plates of different colors.", "on white tablecloth alternately place white carrots eggplants in plates of different colors.", "on white black tablecloth alternately place white carrots eggplants in plates of different colors." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "tablecloth", "level1": "clothing", "level2": "tablecloth", "level3": null, "level4": null, "level5": null }, { "object_name": "white_carrot", "level1": "vegetables", "level2": "white_carrot", "level3": null, "level4": null, "level5": null }, { "object_name": "eggplant", "level1": "vegetables", "level2": "eggplant", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "agilex_cobot_magic_aloha" ], "end_effector_type": "two_finger_gripper" } }, "Split_aloha_basket_storage_long_bread": { "dataset_name": "basket_storage_long_bread", "dataset_uuid": "3edf5fc6-ba54-4b74-901e-ac0b49ed35b3", "scene_type": [ "home", "kitchen" ], "atomic_actions": [ "grasp", "place", "pick" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "long_bread", "level1": "food", "level2": "long_bread", "level3": null, "level4": null, "level5": null }, { "object_name": "basket", "level1": "container", "level2": "basket", "level3": null, "level4": null, "level5": null } ], "path": "Split_aloha_basket_storage_long_bread", "video_url": "./assets/videos/Split_aloha_basket_storage_long_bread.mp4", "thumbnail_url": "./assets/thumbnails/Split_aloha_basket_storage_long_bread.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "3.7GB", "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": "Split_aloha", "codebase_version": "v2.1", "statistics": { "total_episodes": 311, "total_frames": 129236, "total_tasks": 1, "total_videos": 933, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:310" }, "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.state": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "action": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "timestamp": { "dtype": "float32", "shape": [ 1 ], "names": null }, "frame_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "episode_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "task_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "subtask_annotation": { "names": null, "dtype": "int32", "shape": [ 5 ] }, "scene_annotation": { "names": null, "dtype": "int32", "shape": [ 1 ] }, "eef_sim_pose_state": { "names": [ "left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_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 ] }, "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 ] }, "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 ] } }, "tasks": "pick up the long bread and put it into the basket.", "sub_tasks": [ "Grasp the long bread with right gripper", "Grasp the basket with the left gripper", "End", "Place the long bread in the basket with right gripper", "Place the basket in the center of the table with the left gripper", "Abnormal", "Static", "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 } ], "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" ] } ], "state": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] } }, "action_space": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Split_aloha_basket_storage_long_bread_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "basket_storage_long_bread", "dataset_uuid": null, "task_descriptions": [ "pick up the long bread and put it into the basket." ], "scene_type": [ "home", "kitchen" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "long_bread", "level1": "food", "level2": "long_bread", "level3": null, "level4": null, "level5": null }, { "object_name": "basket", "level1": "container", "level2": "basket", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "agilex_cobot_decoupled_magic" ], "end_effector_type": "two_finger_gripper" } }, "leju_robot_moving_parts_n": { "dataset_name": "moving_parts_n", "dataset_uuid": "45be2265-aabd-465a-ba72-7ad2a60ed23e", "scene_type": [], "atomic_actions": [], "end_effector_type": [ "five_finger_hand" ], "operation_platform_height": null, "objects": [], "path": "leju_robot_moving_parts_n", "video_url": "./assets/videos/leju_robot_moving_parts_n.mp4", "thumbnail_url": "./assets/thumbnails/leju_robot_moving_parts_n.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "51.0GB", "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": "leju_robot", "codebase_version": "v2.1", "statistics": { "total_episodes": 492, "total_frames": 738613, "total_tasks": 1, "total_videos": 1476, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:491" }, "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.camera_head_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_left_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_right_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "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": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] }, "action": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "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": "take the parts from the cabinet and place them on the table.", "sub_tasks": [ "Place the black part on the table with right gripper", "Pick up the large material from the shelf.", "Insert the large material into the corresponding slot on the workbench.", "End", "Grasp the black part with right gripper", "Move the large material to the workbench.", "Move to the initial position of the shelf.", "Move to the table behind body", "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.camera_head_rgb", "name": "camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_left_wrist_rgb", "name": "camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_right_wrist_rgb", "name": "camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] } }, "action_space": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "leju_robot_moving_parts_n_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.camera_head_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.camera_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.camera_right_wrist_rgb/\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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": {} }, "AgiBot-g1_pick_up_battery": { "dataset_name": "pick_up_battery", "dataset_uuid": "16b21b98-c079-4363-863b-54db1f5d5ebe", "scene_type": [ "factory" ], "atomic_actions": [ "place", "pick", "grasp" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "carton", "level1": "container", "level2": "carton", "level3": null, "level4": null, "level5": null }, { "object_name": "battery", "level1": "tool", "level2": "battery", "level3": null, "level4": null, "level5": null } ], "path": "AgiBot-g1_pick_up_battery", "video_url": "./assets/videos/AgiBot-g1_pick_up_battery.mp4", "thumbnail_url": "./assets/thumbnails/AgiBot-g1_pick_up_battery.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "95.3GB", "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": "AgiBot-g1", "codebase_version": "v2.1", "statistics": { "total_episodes": 387, "total_frames": 185469, "total_tasks": 1, "total_videos": 3096, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:386" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "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, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_back_left_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_back_right_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_center_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_left_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_right_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "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": [ 41 ], "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open", "robot_pos_x_m", "robot_pos_y_m", "robot_pos_z_m", "robot_quat_x", "robot_quat_y", "robot_quat_z", "robot_quat_w" ] }, "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", "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_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 }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "using a robotic arm to pick up battery.", "sub_tasks": [ "Grab the main unit power supply from the containment box.", "Place the main unit power supply in the designated area.", "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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_back_left_fisheye_rgb", "name": "cam_back_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_back_right_fisheye_rgb", "name": "cam_back_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_center_fisheye_rgb", "name": "cam_high_center_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_left_fisheye_rgb", "name": "cam_high_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_right_fisheye_rgb", "name": "cam_high_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_back_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_back_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_center_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 41 ], "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open", "robot_pos_x_m", "robot_pos_y_m", "robot_pos_z_m", "robot_quat_x", "robot_quat_y", "robot_quat_z", "robot_quat_w" ] } }, "action_space": { "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", "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "AgiBot-g1_pick_up_battery_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_back_left_fisheye_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_back_right_fisheye_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_high_center_fisheye_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_high_left_fisheye_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_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_high_right_fisheye_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "pick_up_battery", "dataset_uuid": null, "task_descriptions": [ "pick up the battery from the box and put it on the table" ], "scene_type": [ "factory" ], "atomic_actions": [ "place", "pick", "grasp" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "carton", "level1": "container", "level2": "carton", "level3": null, "level4": null, "level5": null }, { "object_name": "battery", "level1": "tool", "level2": "battery", "level3": null, "level4": null, "level5": null } ], "-operation_platform_height": null, "device_model": [ "tianqing_a2d" ], "end_effector_type": "two_finger_gripper" } }, "AIRBOT_MMK2_diamond_storage": { "dataset_name": "diamond_storage", "dataset_uuid": "07392499-4ada-4393-b1db-c07154012f54", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place", "cover" ], "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": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "diamond", "level1": "mineral", "level2": "diamond", "level3": null, "level4": null, "level5": null } ], "path": "AIRBOT_MMK2_diamond_storage", "video_url": "./assets/videos/AIRBOT_MMK2_diamond_storage.mp4", "thumbnail_url": "./assets/thumbnails/AIRBOT_MMK2_diamond_storage.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "1K-10K", "dataset_size": "426.8MB", "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": 50, "total_frames": 9131, "total_tasks": 1, "total_videos": 200, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:49" }, "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": "Pick up the diamond and put it into the box, then close the lid.", "sub_tasks": [ "End", "Place the diamond ring in the box with the right gripper", "Close the lid of the box with the left gripper", "Grasp the diamond ring with the right 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_diamond_storage_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "diamond_storage", "dataset_uuid": null, "task_descriptions": [ "pick up the diamond with your right hand and put it into the box, then close the lid with your left hand." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place", "cover" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "diamond", "level1": "mineral", "level2": "diamond", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "airbot mmk2" ], "end_effector_type": "five_finger_hand" } }, "Split_aloha_plate_storage": { "dataset_name": "plate_storage", "dataset_uuid": "7f2dd151-758c-4265-89b3-5d486f875ef8", "scene_type": [ "home", "kitchen" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "plate_rack", "level1": "furniture", "level2": "plate_rack", "level3": null, "level4": null, "level5": null } ], "path": "Split_aloha_plate_storage", "video_url": "./assets/videos/Split_aloha_plate_storage.mp4", "thumbnail_url": "./assets/thumbnails/Split_aloha_plate_storage.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "2.6GB", "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": "Split_aloha", "codebase_version": "v2.1", "statistics": { "total_episodes": 499, "total_frames": 229687, "total_tasks": 5, "total_videos": 1497, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:498" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_left_wrist_rgb": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_right_wrist_rgb": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.state": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "action": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "timestamp": { "dtype": "float32", "shape": [ 1 ], "names": null }, "frame_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "episode_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "task_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "subtask_annotation": { "names": null, "dtype": "int32", "shape": [ 5 ] }, "scene_annotation": { "names": null, "dtype": "int32", "shape": [ 1 ] }, "eef_sim_pose_state": { "names": [ "left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_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 ] }, "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 ] }, "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 ] } }, "tasks": "put the plate on the plate rack.\nthe left gripper grasp the green plate, the left gripper pass the green plate to the right gripper, and the right gripper place the green plate on the plate rack.\nthe right gripper grasp the green plate, the right gripper pass the green plate to the left gripper, and the left gripper place the green plate on the plate rack.\nthe left gripper grasp the pink plate, the left gripper pass the pink plate to the right gripper, and the right gripper place the pink plate on the plate rack.\nthe right gripper grasp the pink plate, the right gripper pass the pink plate to the left gripper, and the left gripper place the pink plate on the plate rack.", "sub_tasks": [ "Pass the plate from the left gripper to the right gripper", "Place the plate on the shelf", "Pass the plate from the right gripper to the left gripper", "Pick up the plate with the left gripper", "Pick up the plate with the right 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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "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 } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 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" ] } ], "state": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] } }, "action_space": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Split_aloha_plate_storage_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "plate_storage", "dataset_uuid": null, "task_descriptions": [ "put the plate on the plate rack.", "the left gripper grasp the green plate, the left gripper pass the green plate to the right gripper, and the right gripper place the green plate on the plate rack.", "the left gripper grasp the pink plate, the left gripper pass the pink plate to the right gripper, and the right gripper place the pink plate on the plate rack.", "the right gripper grasp the green plate, the right gripper pass the green plate to the left gripper, and the left gripper place the green plate on the plate rack.", "the right gripper grasp the pink plate, the right gripper pass the pink plate to the left gripper, and the left gripper place the pink plate on the plate rack." ], "scene_type": [ "home", "kitchen" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "plate_rack", "level1": "furniture", "level2": "plate_rack", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "agilex_cobot_decoupled_magic" ], "end_effector_type": "two_finger_gripper" } }, "AgiBot-g1_box_storage_cardboard_box_a": { "dataset_name": "box_storage_cardboard_box_a", "dataset_uuid": "15be5a22-893f-4c6d-8562-afa106f6846f", "scene_type": [ "home" ], "atomic_actions": [ "place", "pick", "grasp" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "paper_box", "level1": "tool", "level2": "paper_box", "level3": null, "level4": null, "level5": null }, { "object_name": "carton", "level1": "tool", "level2": "carton", "level3": null, "level4": null, "level5": null } ], "path": "AgiBot-g1_box_storage_cardboard_box_a", "video_url": "./assets/videos/AgiBot-g1_box_storage_cardboard_box_a.mp4", "thumbnail_url": "./assets/thumbnails/AgiBot-g1_box_storage_cardboard_box_a.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "87.9GB", "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": "AgiBot-g1", "codebase_version": "v2.1", "statistics": { "total_episodes": 402, "total_frames": 188369, "total_tasks": 1, "total_videos": 3216, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:401" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "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, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_back_left_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_back_right_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_center_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_left_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_right_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "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": [ 41 ], "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open", "robot_pos_x_m", "robot_pos_y_m", "robot_pos_z_m", "robot_quat_x", "robot_quat_y", "robot_quat_z", "robot_quat_w" ] }, "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", "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_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 }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "using a robotic arm to pick up a cardboard box and palace it the carton.", "sub_tasks": [ "Place the mouse and the power cord paper box into the container.", "Pick up the mouse and the power cord paper box.", "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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_back_left_fisheye_rgb", "name": "cam_back_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_back_right_fisheye_rgb", "name": "cam_back_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_center_fisheye_rgb", "name": "cam_high_center_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_left_fisheye_rgb", "name": "cam_high_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_right_fisheye_rgb", "name": "cam_high_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_back_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_back_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_center_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 41 ], "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open", "robot_pos_x_m", "robot_pos_y_m", "robot_pos_z_m", "robot_quat_x", "robot_quat_y", "robot_quat_z", "robot_quat_w" ] } }, "action_space": { "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", "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "AgiBot-g1_box_storage_cardboard_box_a_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_back_left_fisheye_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_back_right_fisheye_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_high_center_fisheye_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_high_left_fisheye_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_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_high_right_fisheye_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "box_storage_cardboard_box_a", "dataset_uuid": null, "task_descriptions": [ "using a robotic arm to pick up a cardboard box and palace it the carton." ], "scene_type": [ "home" ], "atomic_actions": [ "place", "pick", "grasp" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "paper_box", "level1": "tool", "level2": "paper_box", "level4": null, "level5": null }, { "object_name": "carton", "level1": "tool", "level2": "carton", "level3": null, "level4": null, "level5": null } ], "-operation_platform_height": null, "device_model": [ "tianqing_a2d" ], "end_effector_type": "two_finger_gripper" } }, "R1_Lite_switch_on_and_off_the_central_air_conditioning": { "dataset_name": "switch_on_and_off_the_central_air_conditioning", "dataset_uuid": "6d6d5868-e715-41cc-a7df-972218e02479", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "central_air_conditioning", "level1": "household_appliances", "level2": "central_air_conditioning", "level3": null, "level4": null, "level5": null } ], "path": "R1_Lite_switch_on_and_off_the_central_air_conditioning", "video_url": "./assets/videos/R1_Lite_switch_on_and_off_the_central_air_conditioning.mp4", "thumbnail_url": "./assets/thumbnails/R1_Lite_switch_on_and_off_the_central_air_conditioning.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "793.3MB", "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": "R1_Lite", "codebase_version": "v2.1", "statistics": { "total_episodes": 35, "total_frames": 19688, "total_tasks": 1, "total_videos": 105, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:34" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "turn on ac press temp up down then turn off.", "sub_tasks": [ "Turn off the central air conditioner", "Press the temperature decrease button", "Press the temperature increase button", "Turn on the central air conditioner", "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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "R1_Lite_switch_on_and_off_the_central_air_conditioning_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "switch_on_and_off_the_central_air_conditioning", "dataset_uuid": null, "task_descriptions": [ "turn on ac press temp up down." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "central_air_conditioning", "level1": "household_appliances", "level2": "central_air_conditioning", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "galaxea_r1_lite" ], "end_effector_type": "two_finger_gripper" } }, "G1edu-u3_plate_storage_rabbit_doll": { "dataset_name": "plate_storage_rabbit_doll", "dataset_uuid": "adde8f5b-b32a-49e8-b684-9f89a37ec8e4", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "three_finger_hand" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "rabbit_doll", "level1": "toy", "level2": "rabbit_doll", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null } ], "path": "G1edu-u3_plate_storage_rabbit_doll", "video_url": "./assets/videos/G1edu-u3_plate_storage_rabbit_doll.mp4", "thumbnail_url": "./assets/thumbnails/G1edu-u3_plate_storage_rabbit_doll.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "378.4MB", "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": "G1edu-u3", "codebase_version": "v2.1", "statistics": { "total_episodes": 227, "total_frames": 76754, "total_tasks": 1, "total_videos": 227, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:226" }, "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.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 }, "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": "pick up the rabbit doll from the table and place it on the plate.", "sub_tasks": [ "Place the rabbit doll into the plate with the left gripper", "Grasp the rabbit doll with the left gripper", "End", "Static", "Abnormal", "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 } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ] } ], "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_space": { "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "G1edu-u3_plate_storage_rabbit_doll_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "plate_storage_rabbit_doll", "dataset_uuid": null, "task_descriptions": [ "pick up the rabbit doll from the table and place it on the plate." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "rabbit_doll", "level1": "toy", "level2": "rabbit_doll", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "unitree_g1" ], "end_effector_type": "five_finger_hand" } }, "RMC-AIDA-L_box_up_down": { "dataset_name": "box_up_down", "dataset_uuid": "e095217a-10c3-44e6-9a26-08a1758a1243", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null } ], "path": "RMC-AIDA-L_box_up_down", "video_url": "./assets/videos/RMC-AIDA-L_box_up_down.mp4", "thumbnail_url": "./assets/thumbnails/RMC-AIDA-L_box_up_down.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "374.8MB", "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": "RMC-AIDA-L", "codebase_version": "v2.1", "statistics": { "total_episodes": 158, "total_frames": 30868, "total_tasks": 2, "total_videos": 474, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:157" }, "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.state": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] }, "action": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "pick up the box from the table with both arms.\nplace the box on the table with both arms.", "sub_tasks": [ "Loosen the box on the table with right gripper", "Loosen the box on the table with left gripper", "Static", "Abnormal", "Place the box on the table with right gripper", "Place the box on the table with left gripper", "End", "Grasp the bandage with left gripper", "Lift the box with left gripper", "Grasp the bandage with right gripper", "Lift the box with right 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 } ], "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" ] } ], "state": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] } }, "action_space": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "RMC-AIDA-L_box_up_down_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "box_up_down", "dataset_uuid": null, "task_descriptions": [ "place the box on the table with both arms.", "pick up the box from the table with both arms." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "realman_rmc_aidal" ], "end_effector_type": "two_finger_gripper" } }, "RMC-AIDA-L_get_water": { "dataset_name": "get_water", "dataset_uuid": "2a2cc6a7-ac07-494e-9b05-0a437532bdb1", "scene_type": [ "home", "kitchen" ], "atomic_actions": [ "grasp", "pick", "place", "hold", "push" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "faucet", "level1": "tool", "level2": "faucet", "level3": null, "level4": null, "level5": null }, { "object_name": "cup", "level1": "container", "level2": "cup", "level3": null, "level4": null, "level5": null }, { "object_name": "water", "level1": "drink", "level2": "water", "level3": null, "level4": null, "level5": null } ], "path": "RMC-AIDA-L_get_water", "video_url": "./assets/videos/RMC-AIDA-L_get_water.mp4", "thumbnail_url": "./assets/thumbnails/RMC-AIDA-L_get_water.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "2.8GB", "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": "RMC-AIDA-L", "codebase_version": "v2.1", "statistics": { "total_episodes": 333, "total_frames": 327536, "total_tasks": 3, "total_videos": 999, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:332" }, "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.state": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] }, "action": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "the left gripper pick up the black cup and place it horizontally under the faucet, the right gripper turn on the faucet to fill the cup, and then turn off the faucet.\nthe left gripper pick up the red cup and place it horizontally under the faucet, the right gripper turn on the faucet to fill the cup, and then turn off the faucet.\nthe right gripper pick up the red cup and place it horizontally under the faucet, the left gripper turn on the faucet to fill the cup, and then turn off the faucet.", "sub_tasks": [ "Move the cup beneath the water dispenser nozzle with the right gripper", "Close the dispenser valve with the right gripper", "Open the dispenser valve and fill the cup with water with the right gripper", "Close the dispenser valve with the left gripper", "Open the dispenser valve and fill the cup with water with the left gripper", "end", "Move the cup beneath the water dispenser nozzle with the left gripper", "abnormal", "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 } ], "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" ] } ], "state": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] } }, "action_space": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "RMC-AIDA-L_get_water_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "get_water", "dataset_uuid": null, "task_descriptions": [ "the left gripper pick up the black cup and place it horizontally under the faucet, the right gripper turn on the faucet to fill the cup, and then turn off the faucet.", "the left gripper pick up the red cup and place it horizontally under the faucet, the right gripper turn on the faucet to fill the cup, and then turn off the faucet.", "the right gripper pick up the red cup and place it horizontally under the faucet, the left gripper turn on the faucet to fill the cup, and then turn off the faucet." ], "scene_type": [ "home", "kitchen" ], "atomic_actions": [ "grasp", "pick", "place", "hold", "push" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "faucet", "level1": "tool", "level2": "faucet", "level3": null, "level4": null, "level5": null }, { "object_name": "cup", "level1": "container", "level2": "cup", "level3": null, "level4": null, "level5": null }, { "object_name": "water", "level1": "drink", "level2": "water", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "realman rmc-aida-l" ], "end_effector_type": "two_finger_gripper" } }, "leju_robot_hotel_services_ab": { "dataset_name": "hotel_services_ab", "dataset_uuid": "e7a6fa76-d4ee-4f1a-b951-26d50fb71f0d", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "five_finger_hand" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "card", "level1": "nfc", "level2": "card", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "sensor", "level1": "electronic_products", "level2": "sensor", "level3": null, "level4": null, "level5": null } ], "path": "leju_robot_hotel_services_ab", "video_url": "./assets/videos/leju_robot_hotel_services_ab.mp4", "thumbnail_url": "./assets/thumbnails/leju_robot_hotel_services_ab.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "5.2GB", "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": "leju_robot", "codebase_version": "v2.1", "statistics": { "total_episodes": 450, "total_frames": 81123, "total_tasks": 1, "total_videos": 1350, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:449" }, "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.camera_head_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_left_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_right_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "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": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] }, "action": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "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": "take out the card place it on the sensor for recognition and then transfer it.", "sub_tasks": [ "End", "Take out the room card with right gripper", "Hand the room card to the guest with right gripper", "Hand the room card to the target.", "Pick up the room card from the card holder.", "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.camera_head_rgb", "name": "camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_left_wrist_rgb", "name": "camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_right_wrist_rgb", "name": "camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] } }, "action_space": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "leju_robot_hotel_services_ab_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.camera_head_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.camera_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.camera_right_wrist_rgb/\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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "hotel_services_ab", "dataset_uuid": null, "task_descriptions": [ "pick room card from front box and give room card." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "card", "level1": "nfc", "level2": "card", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "sensor", "level1": "electronic_products", "level2": "sensor", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "leju_kuavo_4_pro" ], "end_effector_type": "five_finger_gripper" } }, "AIRBOT_MMK2_cup_storage": { "dataset_name": "cup_storage", "dataset_uuid": "4f813d8b-217d-4c36-9698-e2c22c0696ae", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "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": "cup", "level1": "container", "level2": "cup", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null } ], "path": "AIRBOT_MMK2_cup_storage", "video_url": "./assets/videos/AIRBOT_MMK2_cup_storage.mp4", "thumbnail_url": "./assets/thumbnails/AIRBOT_MMK2_cup_storage.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "522.9MB", "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": 48, "total_frames": 12246, "total_tasks": 1, "total_videos": 192, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:47" }, "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": "Hold the blue cup in one hand and place it on the plate, then hold the purple cup in your other hand and put it in the blue cup.", "sub_tasks": [ "Place the blue cup on the plate with the left gripper", "Place the purple cup on the blue cup with the right gripper", "Abnormal", "End", "Grasp the purple cup with the right gripper", "Grasp the blue cup 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_cup_storage_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "cup_storage", "dataset_uuid": null, "task_descriptions": [ "hold the blue cup in your left hand and place it on the plate, and hold the purple cup in your right hand and put it in the blue cup." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "cup", "level1": "container", "level2": "cup", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "airbot mmk2" ], "end_effector_type": "five_finger_hand" } }, "Cobot_Magic_twist_bottle_cap": { "dataset_name": "twist_bottle_cap", "dataset_uuid": "c084dcfc-e7a8-4e35-a194-0325296dcd6e", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place", "twist" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "bottle", "level1": "container", "level2": "bottle", "level3": null, "level4": null, "level5": null }, { "object_name": "master_kong_oolong_tea", "level1": "drink", "level2": "master_kong_oolong_tea", "level3": null, "level4": null, "level5": null }, { "object_name": "green_tea", "level1": "drink", "level2": "green_tea", "level3": null, "level4": null, "level5": null }, { "object_name": "meinianda", "level1": "drink", "level2": "meinianda", "level3": null, "level4": null, "level5": null }, { "object_name": "yili_changqing", "level1": "drink", "level2": "yili_changqing", "level3": null, "level4": null, "level5": null }, { "object_name": "cestbon", "level1": "drink", "level2": "cestbon", "level3": null, "level4": null, "level5": null } ], "path": "Cobot_Magic_twist_bottle_cap", "video_url": "./assets/videos/Cobot_Magic_twist_bottle_cap.mp4", "thumbnail_url": "./assets/thumbnails/Cobot_Magic_twist_bottle_cap.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "8.7GB", "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": "Cobot_Magic", "codebase_version": "v2.1", "statistics": { "total_episodes": 863, "total_frames": 749388, "total_tasks": 9, "total_videos": 2589, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:862" }, "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.state": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "action": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "timestamp": { "dtype": "float32", "shape": [ 1 ], "names": null }, "frame_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "episode_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "task_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "subtask_annotation": { "names": null, "dtype": "int32", "shape": [ 5 ] }, "scene_annotation": { "names": null, "dtype": "int32", "shape": [ 1 ] }, "eef_sim_pose_state": { "names": [ "left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_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 ] }, "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 ] }, "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 ] } }, "tasks": "tighten the cap of the cestbon bottle.\ntighten the cap of the green tea bottle.\nloosen the cap of the cestbon bottle.\ntighten the cap of the master kong oolong tea bottle.\nloosen the cap of the green tea bottle.\ntighten the cap of the meinianda bottle.\nloosen the bottle cap of master kang oolong tea.\ntighten the cap of the yili changqing bottle.\nloosen the cap of the meinianda bottle.", "sub_tasks": [ "Place the Yili Changqing with the left hand", "Lift the Peach Oolong Tea with the left hand", "Place the bottle cap on the table with the right hand", "Move the Peach Oolong Tea from right to left", "Move from left to right", "Move the Peach Oolong Tea from left to right", "Secure the C'estbon with the left hand", "Move the Mirinda to the right with the left hand", "Place the bottle on the table with the left gripper", "Grasp the bottle and move it to the center of the table with the left gripper", "Move the Mirinda from left to right", "Move the Mirinda from top to bottom", "Discard", "Place the bottle cap on the table", "End", "Place the C'estbon with the left hand", "Move the Mirinda from right to left", "Move the green tea to the right with the left hand", "Lift the bottle and move it to the center of the table with the left gripper", "Grab the green tea with the left hand", "Secure the Peach Oolong Tea with the left hand", "Place the Mirinda with the left hand", "Fix the Yili Changqing on the left", "Secure the green tea with the left hand", "Secure the Yili Changqing with the left hand", "Move the Yili Changqing from left to right", "Abnormal", "Place the bottle cap on the right", "Place the green tea with the left hand", "Move the Yili Changqing to the right with the left hand", "Lift the green tea with the left hand", "Grab the C'estbon with the left hand", "Move from right to left", "Unscrew the bottle cap with the right gripper while holding the bottle with the left gripper", "Secure the Mirinda with the left hand", "Grab the Yili Changqing with the left hand", "Lift the Yili Changqing with the left hand", "Move the C'estbon to the right with the left hand", "Place the Peach Oolong Tea with the left hand", "Move the Yili Changqing from right to left", "Fix the Mirinda on the left", "Move the Yili Changqing from bottom to top", "Grab the Peach Oolong Tea with the left hand", "Move the Peach Oolong Tea to the right with the left hand", "Move the Yili Changqing from top to bottom", "Grab the Mirinda with the left hand", "Twist the bottle cap with the right hand", "Lift the Mirinda with the left hand", "Place the bottle cap on the table with the right 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 } ], "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" ] } ], "state": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] } }, "action_space": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Cobot_Magic_twist_bottle_cap_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "twist_bottle_cap", "dataset_uuid": null, "task_descriptions": [ "tighten the cap on the water bottle.", "loosen the cap of the mineral water bottle.", "tighten the cap of the green tea bottle.", "loosen the cap of the green tea bottle.", "tighten the cap of the master kong oolong tea bottle.", "loosen the bottle cap of master kang oolong tea.", "tighten the cap of the meinianda bottle.", "loosen the cap of the meinianda bottle.", "tighten the cap of the yili changqing bottle.", "loosen the cap of the yili changqing bottle." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place", "twist" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "bottle", "level1": "container", "level2": "bottle", "level3": null, "level4": null, "level5": null }, { "object_name": "master_kong_oolong_tea", "level1": "drink", "level2": "master_kong_oolong_tea", "level3": null, "level4": null, "level5": null }, { "object_name": "green_tea", "level1": "drink", "level2": "green_tea", "level3": null, "level4": null, "level5": null }, { "object_name": "meinianda", "level1": "drink", "level2": "meinianda", "level3": null, "level4": null, "level5": null }, { "object_name": "yili_changqing", "level1": "drink", "level2": "yili_changqing", "level3": null, "level4": null, "level5": null }, { "object_name": "cestbon", "level1": "drink", "level2": "cestbon", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "agilex_cobot_decoupled_magic" ], "end_effector_type": "two_finger_gripper" } }, "alpha_bot_2_sticker": { "dataset_name": "sticker", "dataset_uuid": "81aee7b0-84c3-4b85-9778-c5c9df188afd", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "poster", "level1": "toy", "level2": "poster", "level3": null, "level4": null, "level5": null } ], "path": "alpha_bot_2_sticker", "video_url": "./assets/videos/alpha_bot_2_sticker.mp4", "thumbnail_url": "./assets/thumbnails/alpha_bot_2_sticker.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "1.9GB", "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": "alpha_bot_2", "codebase_version": "v2.1", "statistics": { "total_episodes": 93, "total_frames": 97993, "total_tasks": 1, "total_videos": 372, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:92" }, "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_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_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": [ 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", "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" ] }, "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", "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" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "stick the poster on the table by hand.", "sub_tasks": [ "End", "Stick the advertisement in the top-right corner area with both grippers", "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_chest_rgb", "name": "cam_chest_rgb", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_head_rgb", "name": "cam_head_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 } ], "observation_space": { "images": [ { "key": "observation.images.cam_chest_rgb", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_head_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" ] } ], "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", "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" ] } }, "action_space": { "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", "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "alpha_bot_2_sticker_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_chest_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_head_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "sticker", "task_descriptions": [ "stick the poster on the table by hand." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "poster", "level1": "toy", "level2": "poster", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "ai² aiphabot 2" ], "end_effector_type": "two_finger_gripper", "dataset_uuid": null } }, "R1_Lite_stack_baskets": { "dataset_name": "stack_baskets", "dataset_uuid": "4b7a3d8c-18c0-45af-9337-02adad3a72de", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "basket", "level1": "container", "level2": "basket", "level3": null, "level4": null, "level5": null } ], "path": "R1_Lite_stack_baskets", "video_url": "./assets/videos/R1_Lite_stack_baskets.mp4", "thumbnail_url": "./assets/thumbnails/R1_Lite_stack_baskets.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "4.1GB", "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": "R1_Lite", "codebase_version": "v2.1", "statistics": { "total_episodes": 101, "total_frames": 57189, "total_tasks": 1, "total_videos": 404, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:100" }, "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_left_rgb": { "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_right_rgb": { "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 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" ] }, "action": { "dtype": "float32", "shape": [ 18 ], "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 }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "stack a basket on top of another basket.", "sub_tasks": [ "Grasp the dark basket with the right gripper", "End", "Place the light basket on the middle of the table with the left gripper", "Grasp the light basket with the left gripper", "Place the dark basket into the light color basket with the right gripper", "Static", "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_left_rgb", "name": "cam_high_left_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_right_rgb", "name": "cam_high_right_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_left_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_right_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "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" ] } }, "action_space": { "dtype": "float32", "shape": [ 18 ], "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "R1_Lite_stack_baskets_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_left_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_high_right_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "stack_baskets", "dataset_uuid": null, "task_descriptions": [ "place the basket in the center，stack a basket on top of another basket." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "basket", "level1": "container", "level2": "basket", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "galaxea_r1_lite" ], "end_effector_type": "two_finger_gripper" } }, "Galbot_g1_fold_clothe_b": { "dataset_name": "fold_clothe_b", "dataset_uuid": "0dd63c25-960f-4489-88af-e3c5c38998c2", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick", "flod" ], "end_effector_type": "two_finger_gripper", "operation_platform_height": 0.0, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "clothes", "level1": "clothing", "level2": "clothes", "level3": null, "level4": null, "level5": null } ], "path": "Galbot_g1_fold_clothe_b", "video_url": "./assets/videos/Galbot_g1_fold_clothe_b.mp4", "thumbnail_url": "./assets/thumbnails/Galbot_g1_fold_clothe_b.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "8.8GB", "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": "Galbot_g1", "codebase_version": "v2.1", "statistics": { "total_episodes": 213, "total_frames": 197328, "total_tasks": 1, "total_videos": 639, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:212" }, "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": [ 368, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 368, "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": [ 368, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 368, "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": [ 49 ], "names": [ "body_joint_1_rad", "body_joint_2_rad", "body_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", "left_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm" ] }, "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", "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" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "fold and organize the clothes.", "sub_tasks": [ "Abnormal", "use the left gripper to clamp the left edge of the fabric", "Drag the clothes to the center of the table", "End", "use both grippers simultaneously to clamp the upper edge of the clothing fabric", "use both grippers to drag the lower edge of the fabric forward and fold it over the upper edge", "use both grippers to drag the upper edge of the fabric backward and fold it over the lower edge", "use both grippers simultaneously to clamp the lower edge of the clothing fabric", "Drag the clothes downward with both gripper", "use the left gripper to drag the left edge of the fabric to the left and folds it over the right edge", "Flip the folded clothes over with 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": [ 368, 640, 3 ], "resolution": [ 368, 640 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 368, 640, 3 ], "resolution": [ 368, 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": [ 368, 640, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 368, 640, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 49 ], "names": [ "body_joint_1_rad", "body_joint_2_rad", "body_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", "left_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm" ] } }, "action_space": { "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", "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Galbot_g1_fold_clothe_b_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "fold_clothe_b", "dataset_uuid": null, "task_descriptions": [ "fold and organize the clothes." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick", "flod" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "clothes", "level1": "clothing", "level2": "clothes", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 0, "device_model": [ "galbo" ], "end_effector_type": "two_finger_gripper" } }, "R1_Lite_connect_the_router_cable": { "dataset_name": "connect_the_router_cable", "dataset_uuid": "2802db0f-0c22-4fba-b305-aae14b28e492", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place", "insert" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "router", "level1": "electric_appliance", "level2": "router", "level3": null, "level4": null, "level5": null }, { "object_name": "socket", "level1": "electric_appliance", "level2": "socket", "level3": null, "level4": null, "level5": null }, { "object_name": "cable", "level1": "electric_appliance", "level2": "cable", "level3": null, "level4": null, "level5": null }, { "object_name": "plug", "level1": "electric_appliance", "level2": "plug", "level3": null, "level4": null, "level5": null } ], "path": "R1_Lite_connect_the_router_cable", "video_url": "./assets/videos/R1_Lite_connect_the_router_cable.mp4", "thumbnail_url": "./assets/thumbnails/R1_Lite_connect_the_router_cable.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "9.4GB", "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": "R1_Lite", "codebase_version": "v2.1", "statistics": { "total_episodes": 105, "total_frames": 165617, "total_tasks": 1, "total_videos": 315, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:104" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "insert plug into socket then connect cable to router interface.", "sub_tasks": [ "Hand it to the other hand", "Pick up plug", "Pick up the cable", "Close the lower drawer", "Place the iced tea in the fridge", "Open the upper fridge door", "Plug it into the socket", "End", "Place zucchini in the lower drawer", "Open the lower drawer", "Deliver it to the other hand", "Abnormal", "Plug plug into socket", "Open the plastic bag", "Place pear in the lower drawer", "Place the Wahaha in the fridge", "Pick up cable", "Close the middle refrigerator door", "Open the middle refrigerator door", "Place king oyster Mushroom in the lower drawer", "Plug cable into router interface", "Align cable and router interface", "Close the upper refrigerator door", "Align plug and socket", "Plug it into the receiver", "Pick up the plug", "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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "R1_Lite_connect_the_router_cable_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "connect_the_router_cable", "dataset_uuid": null, "task_descriptions": [ "insert plug into socket then connect cable to router interface." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place", "insert" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "router", "level1": "electric_appliance", "level2": "router", "level3": null, "level4": null, "level5": null }, { "object_name": "socket", "level1": "electric_appliance", "level2": "socket", "level3": null, "level4": null, "level5": null }, { "object_name": "cable", "level1": "electric_appliance", "level2": "cable", "level3": null, "level4": null, "level5": null }, { "object_name": "plug", "level1": "electric_appliance", "level2": "plug", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "galaxea_r1_lite" ], "end_effector_type": "two_finger_gripper" } }, "Cobot_Magic_pour_drink": { "dataset_name": "pour_drink", "dataset_uuid": "9b6b4d09-0c15-4d1f-b8f9-12be94c871cd", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place", "pour" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "NFC_orange_juice", "level1": "drink", "level2": "NFC_orange_juice", "level3": null, "level4": null, "level5": null }, { "object_name": "red_wine", "level1": "drink", "level2": "red_wine", "level3": null, "level4": null, "level5": null }, { "object_name": "sprite", "level1": "drink", "level2": "sprite", "level3": null, "level4": null, "level5": null }, { "object_name": "black_mug", "level1": "container", "level2": "black_mug", "level3": null, "level4": null, "level5": null }, { "object_name": "paper_cup", "level1": "container", "level2": "paper_cup", "level3": null, "level4": null, "level5": null }, { "object_name": "transparent_cup", "level1": "container", "level2": "transparent_cup", "level3": null, "level4": null, "level5": null }, { "object_name": "tablecloth", "level1": "clothing", "level2": "tablecloth", "level3": null, "level4": null, "level5": null }, { "object_name": "cestbon", "level1": "drink", "level2": "cestbon", "level3": null, "level4": null, "level5": null }, { "object_name": "coffee", "level1": "drink", "level2": "coffee", "level3": null, "level4": null, "level5": null }, { "object_name": "cola", "level1": "drink", "level2": "cola", "level3": null, "level4": null, "level5": null }, { "object_name": "milk", "level1": "drink", "level2": "milk", "level3": null, "level4": null, "level5": null }, { "object_name": "cup", "level1": "container", "level2": "cup", "level3": null, "level4": null, "level5": null } ], "path": "Cobot_Magic_pour_drink", "video_url": "./assets/videos/Cobot_Magic_pour_drink.mp4", "thumbnail_url": "./assets/thumbnails/Cobot_Magic_pour_drink.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "12.6GB", "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": "Cobot_Magic", "codebase_version": "v2.1", "statistics": { "total_episodes": 1613, "total_frames": 862292, "total_tasks": 61, "total_videos": 4839, "total_chunks": 2, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:1612" }, "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.state": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "action": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "timestamp": { "dtype": "float32", "shape": [ 1 ], "names": null }, "frame_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "episode_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "task_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "subtask_annotation": { "names": null, "dtype": "int32", "shape": [ 5 ] }, "scene_annotation": { "names": null, "dtype": "int32", "shape": [ 1 ] }, "eef_sim_pose_state": { "names": [ "left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_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 ] }, "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 ] }, "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 ] } }, "tasks": "fill the black mug completely with NFC orange juice.\npour half of the NFC orange juice into the black mug.\npour three quarters of the NFC orange juice into the black mug.\npour quarter of the NFC orange juice into the black mug.\nfill the paper cup completely with NFC orange juice.\npour half of the NFC orange juice into the paper cup.\npour three quarters of the NFC orange juice into the paper cup.\npour quarter of the NFC orange juice into the paper cup.\nfill the transparent cup completely with NFC orange juice.\npour half of the NFC orange juice into the transparent cup.\npour three quarters of the NFC orange juice into the transparent cup.\npour quarter of the NFC orange juice into the transparent cup.\nfill the black mug completely with red wine.\npour half of the red wine into the black mug.\npour three quarters of the red wine into the black mug.\npour quarter of the red wine into the black mug.\nfill the paper cup completely with red wine.\npour half of the red wine into the paper cup.\npour three quarters of the red wine into the paper cup.\npour quarter of the red wine into the paper cup.\nfill the transparent cup completely with red wine.\npour half of the red wine into the transparent cup.\npour three quarters of the red wine into the transparent cup.\npour quarter of the red wine into the transparent cup.\nfill the black mug completely with sprite.\npour half of the sprite into the black mug.\npour three quarters of the sprite into the black mug.\npour quarter of the sprite into the black mug.\nfill the paper cup completely with sprite.\npour half of the sprite into the paper cup.\npour three quarters of the sprite into the paper cup.\npour quarter of the sprite into the paper cup.\nfill the transparent cup completely with sprite.\npour half of the sprite into the transparent cup.\npour three quarters of the sprite into the transparent cup.\npour quarter of the sprite into the transparent cup.\npour the cestbon into the black cup.\npour the cestbon into the gray cup.\npour the cestbon into the red cup.\npour the cestbon into the white cup.\npour the cestbon into the yellow cup.\npour the coffee into the black cup.\npour the coffee into the gray cup.\npour the coffee into the white cup.\npour the coffee into the yellow cup.\npour the coffee into the red cup.\npour the cola into the black cup.\npour the cola into the gray cup.\npour the cola into the red cup.\npour the cola into the white cup.\npour the cola into the yellow cup.\npour the milk into the black cup.\npour the milk into the gray cup.\npour the milk into the red cup.\npour the milk into the white cup.\npour the milk into the yellow cup.\npour the sprite into the black cup.\npour the sprite into the gray cup.\npour the sprite into the red cup.\npour the sprite into the yellow cup.\npour the sprite into the white cup.", "sub_tasks": [ "Grasp the black cup with left gripper", "Grasp the white cup with right gripper", "Static", "Place the orange juice bottle on the table with left gripper", "Lift the black cup with left gripper", "Place the water bottle on the table with right gripper", "Place the grey cup on the table with left gripper", "End", "Place the sprite bottle on the table with right gripper", "Lift the red cup with left gripper", "Place the cola bottle on the table with left gripper", "Grasp the bottle with cola with right gripper", "Grasp the bottle with sprite with left gripper", "Pour the water from bottle to cup with right gripper", "Place the coffee bottle on the table with right gripper", "Grasp the bottle with orange juice with left gripper", "Pour the red wine from bottle to cup with left gripper", "Place the black cup in the center of view with right gripper", "Place the transparent cup on the table with right gripper", "Place the white cup on the table with right gripper", "Grasp the bottle filled water with right gripper", "Grasp the bottle with coffee with right gripper", "Place the yellow paper cup on the table with left gripper", "Pour the yuexian Milk from bottle to cup with right gripper", "Grasp the bottle with red wine with left gripper", "Grasp the black cup with right gripper", "Place the white cup on the table with left gripper", "Grasp the yellow paper cup with right gripper", "Grasp the yellow paper cup with left gripper", "Pour the orange juice from bottle to cup with left gripper", "Grasp the bottle with water with right gripper", "Pour the yogurt from bottle to cup with left gripper", "Grasp the bottle with yuexian Milk with right gripper", "Place the yellow paper cup on the table with right gripper", "Pour the cola from bottle to cup with right gripper", "Abnormal", "Grasp the white cup with left gripper", "Pour the sprite from bottle to cup with left gripper", "Lift the grey cup with left gripper", "Place the black cup on the table with left gripper", "Grasp the red cup with left gripper", "Place the red cup on the table with left gripper", "Lift the yellow paper cup with right gripper", "Grasp the grey cup with left gripper", "Place the yuexian Milk bottle on the table with right gripper", "Lift the yellow paper cup with left gripper", "Place the sprite bottle on the table with left gripper", "Lift the white cup with left gripper", "Place the cola bottle on the table with right gripper", "Pour the sprite from bottle to cup with right gripper", "Place the red wine bottle on the table with left gripper", "Lift the white cup with right gripper", "Grasp the transparent cup with right gripper", "Grasp the bottle with sprite with right gripper", "Pour the coffee from bottle to cup with right gripper", "Lift the grey cup with right 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 } ], "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" ] } ], "state": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] } }, "action_space": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Cobot_Magic_pour_drink_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│ └── chunk-001/\n│ ├── episode_001000.parquet\n│ ├── episode_001001.parquet\n│ ├── episode_001002.parquet\n│ ├── episode_001003.parquet\n│ ├── episode_001004.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 └── chunk-001/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_001000.mp4\n ├── episode_001001.mp4\n ├── episode_001002.mp4\n ├── episode_001003.mp4\n ├── episode_001004.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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "pour_drink", "dataset_uuid": null, "task_descriptions": [ "fill the black mug completely with NFC orange juice.", "pour half of the NFC orange juice into the black mug.", "pour three quarters of the NFC orange juice into the black mug.", "pour quarter of the NFC orange juice into the black mug.", "fill the paper cup completely with NFC orange juice.", "pour half of the NFC orange juice into the paper cup.", "pour three quarters of the NFC orange juice into the paper cup.", "pour quarter of the NFC orange juice into the paper cup.", "fill the transparent cup completely with NFC orange juice.", "pour half of the NFC orange juice into the transparent cup.", "pour three quarters of the NFC orange juice into the transparent cup.", "pour quarter of the NFC orange juice into the transparent cup.", "fill the black mug completely with red wine.", "pour half of the red wine into the black mug.", "pour three quarters of the red wine into the black mug.", "pour quarter of the red wine into the black mug.", "fill the paper cup completely with red wine.", "pour half of the red wine into the paper cup.", "pour three quarters of the red wine into the paper cup.", "pour quarter of the red wine into the paper cup.", "fill the transparent cup completely with red wine.", "pour half of the red wine into the transparent cup.", "pour three quarters of the red wine into the transparent cup.", "pour quarter of the red wine into the transparent cup.", "fill the black mug completely with sprite.", "pour half of the sprite into the black mug.", "pour three quarters of the sprite into the black mug.", "pour quarter of the sprite into the black mug.", "fill the paper cup completely with sprite.", "pour half of the sprite into the paper cup.", "pour three quarters of the sprite into the paper cup.", "pour quarter of the sprite into the paper cup.", "fill the transparent cup completely with sprite.", "pour half of the sprite into the transparent cup.", "pour three quarters of the sprite into the transparent cup.", "pour quarter of the sprite into the transparent cup.", "pour the cestbon into the black cup.", "pour the cestbon into the gray cup.", "pour the cestbon into the red cup.", "pour the cestbon into the white cup.", "pour the cestbon into the yellow cup.", "pour the coffee into the black cup.", "pour the coffee into the gray cup.", "pour the coffee into the red cup.", "pour the coffee into the white cup.", "pour the coffee into the yellow cup.", "pour the cola into the black cup.", "pour the cola into the gray cup.", "pour the cola into the red cup.", "pour the cola into the white cup.", "pour the cola into the yellow cup.", "pour the milk into the black cup.", "pour the milk into the gray cup.", "pour the milk into the red cup.", "pour the milk into the white cup.", "pour the milk into the yellow cup.", "pour the sprite into the black cup.", "pour the sprite into the gray cup.", "pour the sprite into the red cup.", "pour the sprite into the white cup.", "pour the sprite into the yellow cup.", "pour the cestbon onto the black tablecloth into the black cup.", "pour the cestbon onto the black tablecloth into the grey cup.", "pour the cestbon onto the black tablecloth into the red cup.", "pour the cestbon onto the black tablecloth into the white cup.", "pour the cestbon onto the black tablecloth into the yellow cup.", "pour the coffee onto the black tablecloth into the black cup.", "pour the coffee onto the black tablecloth into the grey cup.", "pour the coffee onto the black tablecloth into the red cup.", "pour the coffee onto the black tablecloth into the white cup.", "pour the coffee onto the black tablecloth into the yellow cup.", "pour the cola into the black cup on the black tablecloth.", "pour the cola into the grey cup on the black tablecloth.", "pour the cola into the red cup on the black tablecloth.", "pour the cola into the white cup on the black tablecloth.", "pour the cola into the yellow cup on the black tablecloth.", "pour the milk onto the black tablecloth into the black cup.", "pour the milk onto the black tablecloth into the grey cup.", "pour the milk onto the black tablecloth into the red cup.", "pour the milk onto the black tablecloth into the white cup.", "pour the milk onto the black tablecloth into the yellow cup.", "pour sprite into a black cup on a black tablecloth.", "pour sprite into a black cup on a grey tablecloth.", "pour sprite into a black cup on a red tablecloth.", "pour sprite into a black cup on a white tablecloth.", "pour sprite into a black cup on a yellow tablecloth." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place", "pour" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "NFC_orange_juice", "level1": "drink", "level2": "NFC_orange_juice", "level3": null, "level4": null, "level5": null }, { "object_name": "red_wine", "level1": "drink", "level2": "red_wine", "level3": null, "level4": null, "level5": null }, { "object_name": "sprite", "level1": "drink", "level2": "sprite", "level3": null, "level4": null, "level5": null }, { "object_name": "black_mug", "level1": "container", "level2": "black_mug", "level3": null, "level4": null, "level5": null }, { "object_name": "paper_cup", "level1": "container", "level2": "paper_cup", "level3": null, "level4": null, "level5": null }, { "object_name": "transparent_cup", "level1": "container", "level2": "transparent_cup", "level3": null, "level4": null, "level5": null }, { "object_name": "tablecloth", "level1": "clothing", "level2": "tablecloth", "level3": null, "level4": null, "level5": null }, { "object_name": "cestbon", "level1": "drink", "level2": "cestbon", "level3": null, "level4": null, "level5": null }, { "object_name": "coffee", "level1": "drink", "level2": "coffee", "level3": null, "level4": null, "level5": null }, { "object_name": "cola", "level1": "drink", "level2": "cola", "level3": null, "level4": null, "level5": null }, { "object_name": "milk", "level1": "drink", "level2": "milk", "level3": null, "level4": null, "level5": null }, { "object_name": "cup", "level1": "container", "level2": "cup", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "agilex_cobot_decoupled_magic" ], "end_effector_type": "two_finger_gripper" } }, "R1_Lite_wash_the_tableware": { "dataset_name": "wash_the_tableware", "dataset_uuid": "62b4f49b-4413-4d29-9822-c440835cdf41", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "sink", "level1": "container", "level2": "sink", "level3": null, "level4": null, "level5": null }, { "object_name": "chopsticks", "level1": "tableware", "level2": "chopsticks", "level3": null, "level4": null, "level5": null }, { "object_name": "spoon", "level1": "tableware", "level2": "spoon", "level3": null, "level4": null, "level5": null }, { "object_name": "bowl", "level1": "container", "level2": "bowl", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null } ], "path": "R1_Lite_wash_the_tableware", "video_url": "./assets/videos/R1_Lite_wash_the_tableware.mp4", "thumbnail_url": "./assets/thumbnails/R1_Lite_wash_the_tableware.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "7.3GB", "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": "R1_Lite", "codebase_version": "v2.1", "statistics": { "total_episodes": 137, "total_frames": 197672, "total_tasks": 1, "total_videos": 411, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:136" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "turn on faucet put tableware in sink rinse then back.", "sub_tasks": [ "Grasp yellow bowl with right gripper", "Pick up the bowl", "Open the dispenser valve with right gripper", "End", "Rinse the chopsticks", "Put the chopsticks into the sink", "Place the chopsticks on the table", "Put a spoon back to the table from the sink", "Put a bowl back to the table from the sink", "Place pink bowl into the sink with right gripper", "Rinse the plate", "Wait for the water to rinse the bowl", "Place a chopstick into the sink with right gripper", "Put a bowl into the sink", "Rinse the bowl", "Place a chopstick on the bowl with right gripper", "Place the plate on the table", "Pour the water from the yellow bowl into the sink with right gripper", "Place the bowl on the table", "Pick up the chopsticks", "Put the chopsticks back to the table from the sink", "Put a spoon into the sink", "Pour the water from the pink bowl into the sink with right gripper", "Place the chopsticks on the bowl", "Abnormal", "Pick up the spoon", "Rinse the spoon", "Place yellow bowl on the table with right gripper", "Place yellow bowl into the sink with right gripper", "Place the spoon on the plate", "Put a plate back to the table from the sink", "Turn off the faucet", "Pick up the plate", "Place the spoon on the bowl", "Close the dispenser valve with right gripper", "Grasp a chopstick with right gripper", "Grasp pink bowl with right gripper", "Turn on the faucet", "Place pink bowl on the table with right gripper", "Put a plate into the sink", "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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "R1_Lite_wash_the_tableware_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "wash_the_tableware", "dataset_uuid": null, "task_descriptions": [ "turn on faucet put tableware in sink rinse then back." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "sink", "level1": "container", "level2": "sink", "level3": null, "level4": null, "level5": null }, { "object_name": "chopsticks", "level1": "tableware", "level2": "chopsticks", "level3": null, "level4": null, "level5": null }, { "object_name": "spoon", "level1": "tableware", "level2": "spoon", "level3": null, "level4": null, "level5": null }, { "object_name": "bowl", "level1": "container", "level2": "bowl", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "galaxea_r1_lite" ], "end_effector_type": "two_finger_gripper" } }, "AIRBOT_MMK2_store_peaches_and_pears": { "dataset_name": "store_peaches_and_pears", "dataset_uuid": "c95d9ed0-71ed-4c90-94ec-30af0eb88215", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "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": "peache", "level1": "fruit", "level2": "peache", "level3": null, "level4": null, "level5": null }, { "object_name": "pear", "level1": "fruit", "level2": "pear", "level3": null, "level4": null, "level5": null }, { "object_name": "compartment", "level1": "container", "level2": "compartment", "level3": null, "level4": null, "level5": null } ], "path": "AIRBOT_MMK2_store_peaches_and_pears", "video_url": "./assets/videos/AIRBOT_MMK2_store_peaches_and_pears.mp4", "thumbnail_url": "./assets/thumbnails/AIRBOT_MMK2_store_peaches_and_pears.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "343.0MB", "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": 48, "total_frames": 11276, "total_tasks": 1, "total_videos": 192, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:47" }, "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": "One hand throws the peach into one compartment while the other hand throws the pear into the other compartment.", "sub_tasks": [ "Place the pear into the right compartment of the storage box with the right gripper", "Place the peach into the left compartment of the storage box with the left gripper", "Abnormal", "Grasp a peach with the left gripper", "End", "Grasp a pear with the right 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_store_peaches_and_pears_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "store_peaches_and_pears", "dataset_uuid": null, "task_descriptions": [ "the left hand throws the peach into the left compartment, the right hand throws the pear into the right compartment." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "peache", "level1": "fruit", "level2": "peache", "level3": null, "level4": null, "level5": null }, { "object_name": "pear", "level1": "fruit", "level2": "pear", "level3": null, "level4": null, "level5": null }, { "object_name": "compartment", "level1": "container", "level2": "compartment", "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "airbot mmk2" ], "end_effector_type": "five_finger_hand" } }, "G1edu-u3_pullBowl_storage_bread_b": { "dataset_name": "pullBowl__storage2bread_unordered", "dataset_uuid": "11ed8a7f-106a-4c08-98a4-0abdd1b97a48", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "five_finger_hand", "three_finger_hand" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "towel", "level1": "clothing", "level2": "towel", "level3": null, "level4": null, "level5": null } ], "path": "G1edu-u3_pullBowl_storage_bread_b", "video_url": "./assets/videos/G1edu-u3_pullBowl_storage_bread_b.mp4", "thumbnail_url": "./assets/thumbnails/G1edu-u3_pullBowl_storage_bread_b.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "3.2GB", "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": "G1edu-u3", "codebase_version": "v2.1", "statistics": { "total_episodes": 185, "total_frames": 160853, "total_tasks": 1, "total_videos": 555, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:184" }, "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.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_left_high": { "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 }, "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": "Put the long bread and round bread into a pink bowl.", "sub_tasks": [ "Move the pink bowl to the center of table with right hand", "Abnormal", "Place the round bread in pink bowl with left hand", "End", "Grasp the round bread with left hand", "Place the long bread in pink bowl with left hand", "Grasp the long bread with left hand", "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_left_high", "name": "cam_left_high", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist", "name": "cam_left_wrist", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist", "name": "cam_right_wrist", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_left_high", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channel" ] }, { "key": "observation.images.cam_left_wrist", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channel" ] }, { "key": "observation.images.cam_right_wrist", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channel" ] } ], "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_space": { "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "G1edu-u3_pullBowl_storage_bread_b_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_left_high/\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/\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/\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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "pullBowl_storage_bread_unordered_a", "dataset_uuid": null, "task_descriptions": [ "the left hand pick up the towel on the left side of the plate and placed it in the plate.", "the right hand pick up the towel on the right side of the plate and placed it in the plate." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "towel", "level1": "clothing", "level2": "towel", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "unitree_g1" ], "end_effector_type": [ "five_finger_hand", "three_finger_hand" ] } }, "AIRBOT_MMK2_the_cup_is_put_into_the_bucket": { "dataset_name": "the_cup_is_put_into_the_bucket", "dataset_uuid": "3d103654-86bc-4dae-b569-be335fe5d8df", "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": "paper_cup", "level1": "container", "level2": "paper_cup", "level3": null, "level4": null, "level5": null }, { "object_name": "bucket", "level1": "container", "level2": "bucket", "level3": null, "level4": null, "level5": null } ], "path": "AIRBOT_MMK2_the_cup_is_put_into_the_bucket", "video_url": "./assets/videos/AIRBOT_MMK2_the_cup_is_put_into_the_bucket.mp4", "thumbnail_url": "./assets/thumbnails/AIRBOT_MMK2_the_cup_is_put_into_the_bucket.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "1K-10K", "dataset_size": "369.4MB", "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": 50, "total_frames": 9335, "total_tasks": 1, "total_videos": 200, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:49" }, "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": "Take both white paper cups and put them one after the other into the yellow bucket.", "sub_tasks": [ "Lift the cup the right gripper", "Grasp the cup the right gripper", "Static", "place the cup in the yellow basket use the left gripper", "End", "Grasp the cup the left gripper", "Lift the cup the left gripper", "place the cup in the yellow basket use the right 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_the_cup_is_put_into_the_bucket_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "the_cup_is_put_into_the_bucket", "dataset_uuid": null, "task_descriptions": [ "take the same white paper cup in both hands. put the left hand's cup into the yellow bucket, then put the right hand's cup in." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "open", "hold" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "paper_cup", "level1": "container", "level2": "paper_cup", "level3": null, "level4": null, "level5": null }, { "object_name": "bucket", "level1": "container", "level2": "bucket", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "discover_robotics_aitbot_mmk2" ], "end_effector_type": "two_finger_gripper" } }, "leju_robot_box_storage_parcel_d": { "dataset_name": "box_storage_parcel_d", "dataset_uuid": "a24f0c02-18b7-4770-8ed1-41d5db2ba6d8", "scene_type": [], "atomic_actions": [], "end_effector_type": [ "five_finger_hand" ], "operation_platform_height": null, "objects": [], "path": "leju_robot_box_storage_parcel_d", "video_url": "./assets/videos/leju_robot_box_storage_parcel_d.mp4", "thumbnail_url": "./assets/thumbnails/leju_robot_box_storage_parcel_d.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "18.0GB", "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": "leju_robot", "codebase_version": "v2.1", "statistics": { "total_episodes": 212, "total_frames": 288956, "total_tasks": 1, "total_videos": 636, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:211" }, "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.camera_head_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_left_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_right_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "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": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] }, "action": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "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": "moved the parcel from conveyor to table for the left to box.", "sub_tasks": [ "Pass the laundry detergent to the left gripper", "Pick up the fast-moving consumer goods bottle from the table.", "Take the fast-moving consumer goods bottle from the table.", "Abnormal", "Grasp the laundry detergent with right gripper", "Place the laundry detergent on the yellow rubber mat with left gripper", "Flip the fast-moving consumer goods bottle to the front side.", "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.camera_head_rgb", "name": "camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_left_wrist_rgb", "name": "camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_right_wrist_rgb", "name": "camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] } }, "action_space": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "leju_robot_box_storage_parcel_d_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.camera_head_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.camera_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.camera_right_wrist_rgb/\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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": {} }, "Cobot_Magic_move_the_cup": { "dataset_name": "move_the_cup", "dataset_uuid": "503e7d0b-c281-4ea6-98ff-ebe74764c6ad", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "glass_cup", "level1": "container", "level2": "glass_cup", "level3": null, "level4": null, "level5": null }, { "object_name": "towel", "level1": "clothing", "level2": "towel", "level3": null, "level4": null, "level5": null } ], "path": "Cobot_Magic_move_the_cup", "video_url": "./assets/videos/Cobot_Magic_move_the_cup.mp4", "thumbnail_url": "./assets/thumbnails/Cobot_Magic_move_the_cup.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "1.1GB", "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": "Cobot_Magic", "codebase_version": "v2.1", "statistics": { "total_episodes": 100, "total_frames": 28338, "total_tasks": 1, "total_videos": 300, "total_chunks": 1, "chunks_size": 1000, "fps": 50 }, "splits": { "train": "0:99" }, "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": 50, "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": 50, "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": 50, "video.channels": 3, "has_audio": false } }, "observation.state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "grasp the transparent glass cup and place it within the blue towel.", "sub_tasks": [ "Grasp the transparent glass cup", "Place the glass cup on the blue zone", "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": 50, "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": 50, "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": 50, "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" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Cobot_Magic_move_the_cup_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "move_the_cup", "dataset_uuid": null, "task_descriptions": [ "grasp the transparent glass cup and place it within the blue towel." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "glass_cup", "level1": "container", "level2": "glass_cup", "level3": null, "level4": null, "level5": null }, { "object_name": "towel", "level1": "clothing", "level2": "towel", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "agilex_cobot_decoupled_magic" ], "end_effector_type": "two_finger_gripper" } }, "R1_Lite_storage_of_toiletries": { "dataset_name": "storage_of_toiletries", "dataset_uuid": "25f2cd96-c284-44a9-b59c-98e204e16347", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "storage_bag", "level1": "container", "level2": "storage_bag", "level3": null, "level4": null, "level5": null }, { "object_name": "toothpaste", "level1": "personal_care_products", "level2": "toothpaste", "level3": null, "level4": null, "level5": null }, { "object_name": "toothbrush", "level1": "personal_care_products", "level2": "toothbrush", "level3": null, "level4": null, "level5": null }, { "object_name": "comb", "level1": "personal_care_products", "level2": "comb", "level3": null, "level4": null, "level5": null } ], "path": "R1_Lite_storage_of_toiletries", "video_url": "./assets/videos/R1_Lite_storage_of_toiletries.mp4", "thumbnail_url": "./assets/thumbnails/R1_Lite_storage_of_toiletries.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "7.0GB", "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": "R1_Lite", "codebase_version": "v2.1", "statistics": { "total_episodes": 101, "total_frames": 138432, "total_tasks": 1, "total_videos": 303, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:100" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "put comb toothpaste toothbrush in opened storage bag on table.", "sub_tasks": [ "Place the toothpaste in the storage bag", "Pick up the comb", "Place the comb on the table", "Place the comb into the storage bag", "Pick up the storage bag", "Pick up a toothbrush", "Place the toothpaste on the table", "abnormal", "Pick up the toothpaste", "Open the storage bag", "Close the strorage bag and place it on the desk", "Place the toothbrush in the storage bag", "Hand it to the other hand", "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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "R1_Lite_storage_of_toiletries_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "storage_of_toiletries", "dataset_uuid": null, "task_descriptions": [ "put comb toothpaste toothbrush in opened storage bag on table." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "storage_bag", "level1": "container", "level2": "storage_bag", "level3": null, "level4": null, "level5": null }, { "object_name": "toothpaste", "level1": "personal_care_products", "level2": "toothpaste", "level3": null, "level4": null, "level5": null }, { "object_name": "toothbrush", "level1": "personal_care_products", "level2": "toothbrush", "level3": null, "level4": null, "level5": null }, { "object_name": "comb", "level1": "personal_care_products", "level2": "comb", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "galaxea_r1_lite" ], "end_effector_type": "two_finger_gripper" } }, "AgiBot-g1_storage_item_d": { "dataset_name": "storage_item_d", "dataset_uuid": "49f10ba2-bad7-46fc-ae4b-f6142efa81a2", "scene_type": [ "factory" ], "atomic_actions": [ "grasp", "place", "pick" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "data_cable", "level1": "tool", "level2": "data_cable", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "mouse", "level1": "tool", "level2": "mouse", "level3": null, "level4": null, "level5": null } ], "path": "AgiBot-g1_storage_item_d", "video_url": "./assets/videos/AgiBot-g1_storage_item_d.mp4", "thumbnail_url": "./assets/thumbnails/AgiBot-g1_storage_item_d.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "86.0GB", "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": "AgiBot-g1", "codebase_version": "v2.1", "statistics": { "total_episodes": 450, "total_frames": 180148, "total_tasks": 1, "total_videos": 3600, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:449" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "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, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_back_left_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_back_right_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_center_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_left_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_right_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "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": [ 41 ], "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open", "robot_pos_x_m", "robot_pos_y_m", "robot_pos_z_m", "robot_quat_x", "robot_quat_y", "robot_quat_z", "robot_quat_w" ] }, "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", "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_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 }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "grasp data cable left put into box grasp mouse right put into box.", "sub_tasks": [ "Grab and pick up both the mouse and power cord from the accessory packaging area at the same time", "Place the mouse and power cord into the box", "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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_back_left_fisheye_rgb", "name": "cam_back_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_back_right_fisheye_rgb", "name": "cam_back_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_center_fisheye_rgb", "name": "cam_high_center_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_left_fisheye_rgb", "name": "cam_high_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_right_fisheye_rgb", "name": "cam_high_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_back_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_back_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_center_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 41 ], "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open", "robot_pos_x_m", "robot_pos_y_m", "robot_pos_z_m", "robot_quat_x", "robot_quat_y", "robot_quat_z", "robot_quat_w" ] } }, "action_space": { "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", "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "AgiBot-g1_storage_item_d_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_back_left_fisheye_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_back_right_fisheye_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_high_center_fisheye_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_high_left_fisheye_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_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_high_right_fisheye_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "storage_item_d", "dataset_uuid": null, "task_descriptions": [ "grasp data cable left put into box grasp mouse right put into box." ], "scene_type": [ "factory" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "data_cable", "level1": "tool", "level2": "data_cable", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null }, { "object_name": "mouse", "level1": "tool", "level2": "mouse", "level3": null, "level4": null } ], "-operation_platform_height": null, "device_model": [ "tianqing_a2d" ], "end_effector_type": "two_finger_gripper" } }, "leju_robot_pass_the_cleaner_d": { "dataset_name": "pass_the_cleaner_d", "dataset_uuid": "d1843bc1-83c4-4c84-8c34-c6740a7e82a9", "scene_type": [ "home", "industry" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "five_finger_hand" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "cleaner", "level1": "daily_necessities", "level2": "cleaner", "level3": null, "level4": null, "level5": null } ], "path": "leju_robot_pass_the_cleaner_d", "video_url": "./assets/videos/leju_robot_pass_the_cleaner_d.mp4", "thumbnail_url": "./assets/thumbnails/leju_robot_pass_the_cleaner_d.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "8.7GB", "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": "leju_robot", "codebase_version": "v2.1", "statistics": { "total_episodes": 451, "total_frames": 168676, "total_tasks": 1, "total_videos": 1353, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:450" }, "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.camera_head_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_left_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_right_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "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": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] }, "action": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "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": "pick up the cleaner and put it on the table.", "sub_tasks": [ "Turn the bottle to the front side.", "Pick up the bottle from the table.", "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.camera_head_rgb", "name": "camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_left_wrist_rgb", "name": "camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_right_wrist_rgb", "name": "camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] } }, "action_space": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "leju_robot_pass_the_cleaner_d_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.camera_head_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.camera_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.camera_right_wrist_rgb/\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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "pass_the_cleaner_d", "dataset_uuid": null, "task_descriptions": [ "pick up the cleaner with right hand and passit to left hand then put it on the table." ], "scene_type": [ "home", "industry" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "cleaner", "level1": "daily_necessities", "level2": "cleaner", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "leju_kuavo_4_pro" ], "end_effector_type": "five_finger_gripper" } }, "Galbot_g1_steamer_storage_baozi_h": { "dataset_name": "steamer_storage_baozi_h", "dataset_uuid": "23188104-2751-4169-b13b-286381a44645", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "end_effector_type": "two_finger_gripper", "operation_platform_height": 0.0, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "baozi", "level1": "food", "level2": "baozi", "level3": null, "level4": null, "level5": null }, { "object_name": "steamer", "level1": "container", "level2": "steamer", "level3": null, "level4": null, "level5": null }, { "object_name": "pot_lid", "level1": "daily_necessities", "level2": "pot_lid", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null } ], "path": "Galbot_g1_steamer_storage_baozi_h", "video_url": "./assets/videos/Galbot_g1_steamer_storage_baozi_h.mp4", "thumbnail_url": "./assets/thumbnails/Galbot_g1_steamer_storage_baozi_h.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "17.8GB", "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": "Galbot_g1", "codebase_version": "v2.1", "statistics": { "total_episodes": 979, "total_frames": 957982, "total_tasks": 1, "total_videos": 2937, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:978" }, "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": [ 368, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 368, "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": [ 368, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 368, "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": [ 49 ], "names": [ "body_joint_1_rad", "body_joint_2_rad", "body_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", "left_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm" ] }, "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", "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" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "take steamed baozi put them in steamer.", "sub_tasks": [ "Grasp the pot lid with left gripper", "Place the pot lid on the steamer with left gripper", "End", "Place the baozi on the steamer with right gripper", "Grasp the baozi in the plate with right 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": [ 368, 640, 3 ], "resolution": [ 368, 640 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 368, 640, 3 ], "resolution": [ 368, 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": [ 368, 640, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 368, 640, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 49 ], "names": [ "body_joint_1_rad", "body_joint_2_rad", "body_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", "left_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm" ] } }, "action_space": { "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", "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Galbot_g1_steamer_storage_baozi_h_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "steamer_storage_baozi_h", "dataset_uuid": null, "task_descriptions": [ "take steamed baozi put them in steamer then cover it." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "baozi", "level1": "food", "level2": "baozi", "level3": null, "level4": null, "level5": null }, { "object_name": "steamer", "level1": "container", "level2": "steamer", "level3": null, "level4": null, "level5": null }, { "object_name": "pot_lid", "level1": "daily_necessities", "level2": "pot_lid", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 0, "device_model": [ "galbo" ], "end_effector_type": "two_finger_gripper" } }, "leju_robot_pass_the_cleaner_b": { "dataset_name": "pass_the_cleaner_b", "dataset_uuid": "ceb2e30d-5b33-4f0f-b9e0-a88ee69d8e21", "scene_type": [ "home", "industry" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "five_finger_hand" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "cleaner", "level1": "daily_necessities", "level2": "cleaner", "level3": null, "level4": null, "level5": null } ], "path": "leju_robot_pass_the_cleaner_b", "video_url": "./assets/videos/leju_robot_pass_the_cleaner_b.mp4", "thumbnail_url": "./assets/thumbnails/leju_robot_pass_the_cleaner_b.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "8.5GB", "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": "leju_robot", "codebase_version": "v2.1", "statistics": { "total_episodes": 441, "total_frames": 164222, "total_tasks": 1, "total_videos": 1323, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:440" }, "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.camera_head_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_left_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_right_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "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": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] }, "action": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "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": "pick up the cleaner and put it on the table.", "sub_tasks": [ "Turn the bottle to the front side.", "Pick up the bottle from the table.", "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.camera_head_rgb", "name": "camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_left_wrist_rgb", "name": "camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_right_wrist_rgb", "name": "camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] } }, "action_space": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "leju_robot_pass_the_cleaner_b_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.camera_head_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.camera_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.camera_right_wrist_rgb/\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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "pass_the_cleaner_b", "dataset_uuid": null, "task_descriptions": [ "pick up the cleaner with right hand and passit to left hand then put it on the table." ], "scene_type": [ "home", "industry" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "cleaner", "level1": "daily_necessities", "level2": "cleaner", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "leju_kuavo_4_pro" ], "end_effector_type": "five_finger_gripper" } }, "Cobot_Magic_place_the_test_tube": { "dataset_name": "place_the_test_tube", "dataset_uuid": "070ad40e-7f20-4d3e-82d6-9cb8c0fb1f74", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "test_tube", "level1": "tool", "level2": "test_tube", "level3": null, "level4": null, "level5": null }, { "object_name": "test_tube_rack", "level1": "tool", "level2": "test_tube_rack", "level3": null, "level4": null, "level5": null }, { "object_name": "tablecloth", "level1": "clothing", "level2": "tablecloth", "level3": null, "level4": null, "level5": null } ], "path": "Cobot_Magic_place_the_test_tube", "video_url": "./assets/videos/Cobot_Magic_place_the_test_tube.mp4", "thumbnail_url": "./assets/thumbnails/Cobot_Magic_place_the_test_tube.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "6.0GB", "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": "Cobot_Magic", "codebase_version": "v2.1", "statistics": { "total_episodes": 364, "total_frames": 308346, "total_tasks": 6, "total_videos": 1092, "total_chunks": 1, "chunks_size": 1000, "fps": 50 }, "splits": { "train": "0:363" }, "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": 50, "video.channels": 3, "has_audio": false } }, "observation.images.cam_left_wrist_rgb_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": 50, "video.channels": 3, "has_audio": false } }, "observation.images.cam_right_wrist_rgb_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": 50, "video.channels": 3, "has_audio": false } }, "observation.state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "left gripper passes test tube to right gripper places on test tube holder.\nplace the test tube on the test tube rack on the desk.\nplace the test tube on the test tube rack on the green tablecloth.\nplace the test tube on the test tube rack on the grey tablecloth.\non cyan cloth pass tube from right to left gripper place on stand.\non white cloth pass tube from right to left gripper place on stand.", "sub_tasks": [ "Place the test tubes on the test tube rack with the right gripper", "Lift the test tube with the left hand.", "End", "Pass the test tube from the left gripper to the right gripper", "Pick up the test tubes from the table", "Place the test tubes on the rack", "Hand over the test tubes", "Grab the test tube with the left hand.", "Receive the test tube with the right hand.", "Pick up the test tube with the left gripper", "Insert it into the hole at the intersection of the 5th row from the top and the 5th column from the left with the right hand.", "abnormal", "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": 50, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb_rgb", "name": "cam_left_wrist_rgb_rgb", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 50, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb_rgb", "name": "cam_right_wrist_rgb_rgb", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 50, "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_rgb", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb_rgb", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Cobot_Magic_place_the_test_tube_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_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_rgb/\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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "place_the_test_tube", "dataset_uuid": null, "task_descriptions": [ "pick up the test tube on the white tablecloth with your left hand, hand it to your right hand, and then place it on the test tube rack.", "pick up the test tube on the table with your left hand, hand it to your right hand, and then place it on the test tube rack.", "pick up the test tube on the green tablecloth with your left hand, hand it to your right hand, and then place it on the test tube rack.", "pick up the test tube on the gray tablecloth with your left hand, hand it to your right hand, and then place it on the test tube rack.", "pick up the test tube on the green tablecloth with your right hand, hand it to your left hand, and then place it on the test tube rack.", "pick up the test tube on the white tablecloth with your right hand, hand it to your left hand, and then place it on the test tube rack." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "test_tube", "level1": "tool", "level2": "test_tube", "level3": null, "level4": null, "level5": null }, { "object_name": "test_tube_rack", "level1": "tool", "level2": "test_tube_rack", "level3": null, "level4": null, "level5": null }, { "object_name": "tablecloth", "level1": "clothing", "level2": "tablecloth", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "agilex_cobot_decoupled_magic" ], "end_effector_type": "two_finger_gripper" } }, "Galbot_g1_fold_clothe_c": { "dataset_name": "fold_clothe_c", "dataset_uuid": "9c9c15eb-08d9-4119-b551-ce2439643f0f", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick", "flod" ], "end_effector_type": "two_finger_gripper", "operation_platform_height": 0.0, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "clothes", "level1": "clothing", "level2": "clothes", "level3": null, "level4": null, "level5": null } ], "path": "Galbot_g1_fold_clothe_c", "video_url": "./assets/videos/Galbot_g1_fold_clothe_c.mp4", "thumbnail_url": "./assets/thumbnails/Galbot_g1_fold_clothe_c.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "22.3GB", "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": "Galbot_g1", "codebase_version": "v2.1", "statistics": { "total_episodes": 666, "total_frames": 516810, "total_tasks": 1, "total_videos": 1998, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:665" }, "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": [ 368, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 368, "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": [ 368, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 368, "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": [ 49 ], "names": [ "body_joint_1_rad", "body_joint_2_rad", "body_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", "left_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm" ] }, "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", "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" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "fold and organize the clothes.", "sub_tasks": [ "Abnormal", "use the left gripper to clamp the left edge of the fabric", "Drag the clothes to the center of the table", "End", "use both grippers simultaneously to clamp the upper edge of the clothing fabric", "use both grippers to drag the lower edge of the fabric forward and fold it over the upper edge", "use both grippers to drag the upper edge of the fabric backward and fold it over the lower edge", "use both grippers simultaneously to clamp the lower edge of the clothing fabric", "Drag the clothes downward with both gripper", "use the left gripper to drag the left edge of the fabric to the left and folds it over the right edge", "Flip the folded clothes over with 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": [ 368, 640, 3 ], "resolution": [ 368, 640 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 368, 640, 3 ], "resolution": [ 368, 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": [ 368, 640, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 368, 640, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 49 ], "names": [ "body_joint_1_rad", "body_joint_2_rad", "body_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", "left_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm" ] } }, "action_space": { "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", "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Galbot_g1_fold_clothe_c_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "fold_clothe_c", "dataset_uuid": null, "task_descriptions": [ "fold and organize the clothes." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick", "flod" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "clothes", "level1": "clothing", "level2": "clothes", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 0, "device_model": [ "galbo" ], "end_effector_type": "two_finger_gripper" } }, "R1_Lite_open_the_food_pan": { "dataset_name": "open_the_food_pan", "dataset_uuid": "41f586d5-51f7-456a-b30f-ca5a7e7555c2", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "pan", "level1": "container", "level2": "pan", "level3": null, "level4": null, "level5": null } ], "path": "R1_Lite_open_the_food_pan", "video_url": "./assets/videos/R1_Lite_open_the_food_pan.mp4", "thumbnail_url": "./assets/thumbnails/R1_Lite_open_the_food_pan.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "2.6GB", "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": "R1_Lite", "codebase_version": "v2.1", "statistics": { "total_episodes": 94, "total_frames": 74981, "total_tasks": 1, "total_videos": 282, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:93" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "fully open pot lid on table then close it.", "sub_tasks": [ "Hold the pot lid with the right arm", "Close the pot lid", "Open the pot lid completely", "Hold the pot lid with the left arm", "Open the food pot lid a small opening with the right arm", "Open the food pot lid a small opening with the left arm", "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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "R1_Lite_open_the_food_pan_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "open_the_food_pan", "dataset_uuid": null, "task_descriptions": [ "fully open pot lid on table then close it." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "pan", "level1": "container", "level2": "pan", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "galaxea_r1_lite" ], "end_effector_type": "two_finger_gripper" } }, "leju_robot_pass_the_cleaner_e": { "dataset_name": "pass_the_cleaner_e", "dataset_uuid": "5857e16d-9974-4991-a27c-549f3ba35f03", "scene_type": [ "home", "industry" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "five_finger_hand" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "cleaner", "level1": "daily_necessities", "level2": "cleaner", "level3": null, "level4": null, "level5": null } ], "path": "leju_robot_pass_the_cleaner_e", "video_url": "./assets/videos/leju_robot_pass_the_cleaner_e.mp4", "thumbnail_url": "./assets/thumbnails/leju_robot_pass_the_cleaner_e.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "8.6GB", "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": "leju_robot", "codebase_version": "v2.1", "statistics": { "total_episodes": 430, "total_frames": 165558, "total_tasks": 1, "total_videos": 1290, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:429" }, "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.camera_head_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_left_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_right_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "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": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] }, "action": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "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": "pick up the cleaner and put it on the table.", "sub_tasks": [ "Turn the bottle to the front side.", "Pick up the bottle from the table.", "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.camera_head_rgb", "name": "camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_left_wrist_rgb", "name": "camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_right_wrist_rgb", "name": "camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] } }, "action_space": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "leju_robot_pass_the_cleaner_e_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.camera_head_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.camera_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.camera_right_wrist_rgb/\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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "pass_the_cleaner_e", "dataset_uuid": null, "task_descriptions": [ "pick up the cleaner with right hand and passit to left hand then put it on the table." ], "scene_type": [ "home", "industry" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "cleaner", "level1": "daily_necessities", "level2": "cleaner", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "leju_kuavo_4_pro" ], "end_effector_type": "five_finger_gripper" } }, "RMC-AIDA-L_basket_storage_orange": { "dataset_name": "basket_storage_orange", "dataset_uuid": "f96c79dc-15ee-43ed-8c21-1e898a816ee6", "scene_type": [ "home", "kitchen" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "basket", "level1": "container", "level2": "basket", "level3": null, "level4": null, "level5": null }, { "object_name": "orange", "level1": "fruit", "level2": "orange", "level3": null, "level4": null, "level5": null } ], "path": "RMC-AIDA-L_basket_storage_orange", "video_url": "./assets/videos/RMC-AIDA-L_basket_storage_orange.mp4", "thumbnail_url": "./assets/thumbnails/RMC-AIDA-L_basket_storage_orange.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "1.1GB", "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": "RMC-AIDA-L", "codebase_version": "v2.1", "statistics": { "total_episodes": 356, "total_frames": 112423, "total_tasks": 4, "total_videos": 1068, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:355" }, "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.state": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] }, "action": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "the left gripper pick up the black basket and place it horizontally in the middle of the table, the right gripper pick up the orange and place it into the black basket.\nthe left gripper pick up the yellow basket and place it horizontally in the middle of the table, the right gripper pick up the orange and place it into the yellow basket.\nthe right gripper pick up the black basket and place it horizontally in the middle of the table, the left gripper pick up the orange and place it into the black basket.\nthe right gripper pick up the yellow basket and place it horizontally in the middle of the table, the left gripper pick up the orange and place it into the yellow basket.", "sub_tasks": [ "Place the dark basket in the center of view with the right gripper", "Place the light basket in the center of view with the right gripper", "Place the orange into the dark basket with the left gripper", "Place the dark basket in the center of view with the left gripper", "end", "Place the orange into the light basket with the left gripper", "Pick up the light basket with the right gripper", "Place the orange into the light basket with the right gripper", "Pick up the orange with the right gripper", "Place the light basket in the center of view with the left gripper", "Pick up the dark basket with the left gripper", "Pick up the light basket with the left gripper", "Pick up the dark basket with the right gripper", "Pick up the orange with the left gripper", "Place the orange into the dark basket with the right 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 } ], "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" ] } ], "state": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] } }, "action_space": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "RMC-AIDA-L_basket_storage_orange_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "basket_storage_orange", "dataset_uuid": null, "task_descriptions": [ "the left gripper pick up the basket to the appropriate position, the right gripper pick up the orange and place it into the basket.", "the left gripper pick up the black basket and place it horizontally in the middle of the table, the right gripper pick up the orange and place it into the black basket.", "the left gripper pick up the yellow basket and place it horizontally in the middle of the table, the right gripper pick up the orange and place it into the yellow basket.", "the right gripper pick up the black basket and place it horizontally in the middle of the table, the left gripper pick up the orange and place it into the black basket.", "the right gripper pick up the yellow basket and place it horizontally in the middle of the table, the left gripper pick up the orange and place it into the yellow basket." ], "scene_type": [ "home", "kitchen" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "basket", "level1": "container", "level2": "basket", "level3": null, "level4": null, "level5": null }, { "object_name": "orange", "level1": "fruit", "level2": "orange", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "realman rmc-aida-l" ], "end_effector_type": "two_finger_gripper" } }, "Split_aloha_scoop_coffee_beans": { "dataset_name": "scoop_coffee_beans", "dataset_uuid": "643f286d-7021-4fb1-8c63-aecd24fb763e", "scene_type": [ "home", "office" ], "atomic_actions": [ "scoop", "grasp", "pick", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "cup", "level1": "container", "level2": "cup", "level3": null, "level4": null, "level5": null }, { "object_name": "cup_lid", "level1": "container", "level2": "cup_lid", "level3": null, "level4": null, "level5": null }, { "object_name": "spoon", "level1": "tableware", "level2": "spoon", "level3": null, "level4": null, "level5": null }, { "object_name": "coffee_beans", "level1": "food", "level2": "coffee_beans", "level3": null, "level4": null, "level5": null } ], "path": "Split_aloha_scoop_coffee_beans", "video_url": "./assets/videos/Split_aloha_scoop_coffee_beans.mp4", "thumbnail_url": "./assets/thumbnails/Split_aloha_scoop_coffee_beans.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "3.8GB", "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": "Split_aloha", "codebase_version": "v2.1", "statistics": { "total_episodes": 498, "total_frames": 408174, "total_tasks": 8, "total_videos": 1494, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:497" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_left_wrist_rgb": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_right_wrist_rgb": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.state": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "action": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "timestamp": { "dtype": "float32", "shape": [ 1 ], "names": null }, "frame_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "episode_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "task_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "subtask_annotation": { "names": null, "dtype": "int32", "shape": [ 5 ] }, "scene_annotation": { "names": null, "dtype": "int32", "shape": [ 1 ] }, "eef_sim_pose_state": { "names": [ "left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_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 ] }, "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 ] }, "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 ] } }, "tasks": "the right gripper place the grey cup in the center of the table, the left gripper take the pink spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the grey cup, the left gripper put the spoon back into the cup lid.\nthe right gripper place the red cup in the center of the table, the left gripper take the pink spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nthe right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.\nthe left gripper place the red cup in the center of the table, the right gripper take the pink spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the right gripper put the spoon back into the cup lid.\nthe left gripper place the red cup in the center of the table, the right gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the right gripper put the spoon back into the cup lid.\nthe left gripper place the grey cup in the center of the table, the right gripper take the pink spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the grey cup, the right gripper put the spoon back into the cup lid.\nthe left gripper place the grey cup in the center of the table, the right gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the grey cup, the right gripper put the spoon back into the cup lid.\nthe right gripper place the grey cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the grey cup, the left gripper put the spoon back into the cup lid.", "sub_tasks": [ "Place the spoon back in its original place", "Move the cup to the center of view", "Pick up the spoon", "Scoop a spoonful of beans into the cup", "abnormal", "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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "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 } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 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" ] } ], "state": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] } }, "action_space": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Split_aloha_scoop_coffee_beans_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "scoop_coffee_beans", "dataset_uuid": null, "task_descriptions": [ "the left gripper place the grey cup in the center of the table, the right gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the grey cup, the right gripper put the spoon back into the cup lid.", "the left gripper place the grey cup in the center of the table, the right gripper take the pink spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the grey cup, the right gripper put the spoon back into the cup lid.", "the right gripper place the grey cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the grey cup, the left gripper put the spoon back into the cup lid.", "the right gripper place the grey cup in the center of the table, the left gripper take the pink spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the grey cup, the left gripper put the spoon back into the cup lid.", "the left gripper place the red cup in the center of the table, the right gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the right gripper put the spoon back into the cup lid.", "the left gripper place the red cup in the center of the table, the right gripper take the pink spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the right gripper put the spoon back into the cup lid.", "the right gripper place the red cup in the center of the table, the left gripper take the blue spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid.", "the right gripper place the red cup in the center of the table, the left gripper take the pink spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the red cup, the left gripper put the spoon back into the cup lid." ], "scene_type": [ "home", "office" ], "atomic_actions": [ "scoop", "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "cup", "level1": "container", "level2": "cup", "level3": null, "level4": null, "level5": null }, { "object_name": "cup_lid", "level1": "container", "level2": "cup_lid", "level3": null, "level4": null, "level5": null }, { "object_name": "spoon", "level1": "tableware", "level2": "spoon", "level3": null, "level4": null, "level5": null }, { "object_name": "coffee_beans", "level1": "food", "level2": "coffee_beans", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "agilex_cobot_decoupled_magic" ], "end_effector_type": "two_finger_gripper" } }, "R1_Lite_put_on_a_garbage_bag": { "dataset_name": "put_on_a_garbage_bag", "dataset_uuid": "c689a888-c8c9-4a05-a250-680b40218803", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "trash_bag", "level1": "container", "level2": "trash_bag", "level3": null, "level4": null, "level5": null }, { "object_name": "trash_can", "level1": "container", "level2": "trash_can", "level3": null, "level4": null, "level5": null }, { "object_name": "trash_can_ring", "level1": "daily_necessities", "level2": "trash_can_ring", "level3": null, "level4": null, "level5": null } ], "path": "R1_Lite_put_on_a_garbage_bag", "video_url": "./assets/videos/R1_Lite_put_on_a_garbage_bag.mp4", "thumbnail_url": "./assets/thumbnails/R1_Lite_put_on_a_garbage_bag.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "11.0GB", "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": "R1_Lite", "codebase_version": "v2.1", "statistics": { "total_episodes": 133, "total_frames": 252689, "total_tasks": 1, "total_videos": 399, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:132" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "put new trash bag on can then place ring on it.", "sub_tasks": [ "Abnormal", "End", "Grasp a new trash bag with the right gripper", "put the new garbage bag on the trash can", "Place the trash can ring on the trash can with the right gripper", "Pick up the trash bag", "Grasp the trash bag with the right gripper", "place the trash can ring on the floor with right gripper", "Place the trash bag on the floor with the right gripper", "Place the trash can ring on the floor", "Pick up a new trash bag", "Place the trash can ring on the trash can", "Place the trash bag on the floor", "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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "R1_Lite_put_on_a_garbage_bag_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "put_on_a_garbage_bag", "dataset_uuid": null, "task_descriptions": [ "replace the garbage bag on can then place ring on it." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "trash_bag", "level1": "container", "level2": "trash_bag", "level3": null, "level4": null, "level5": null }, { "object_name": "trash_can", "level1": "container", "level2": "trash_can", "level3": null, "level4": null, "level5": null }, { "object_name": "trash_can_ring", "level1": "daily_necessities", "level2": "trash_can_ring", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "galaxea_r1_lite" ], "end_effector_type": "two_finger_gripper" } }, "leju_robot_hotel_services_f": { "dataset_name": "hotel_services_f", "dataset_uuid": "9c2a5a4c-c510-4e80-983e-593589a8eec6", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "five_finger_hand" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "card", "level1": "nfc", "level2": "card", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "card_reader", "level1": "electronic_products", "level2": "card_reader", "level3": null, "level4": null, "level5": null } ], "path": "leju_robot_hotel_services_f", "video_url": "./assets/videos/leju_robot_hotel_services_f.mp4", "thumbnail_url": "./assets/thumbnails/leju_robot_hotel_services_f.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "6.3GB", "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": "leju_robot", "codebase_version": "v2.1", "statistics": { "total_episodes": 135, "total_frames": 95863, "total_tasks": 1, "total_videos": 405, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:134" }, "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.camera_head_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_left_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_right_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "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": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] }, "action": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "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": "take out the card place it on the sensor for recognition and then transfer it.", "sub_tasks": [ "Hand the room key to the person.", "Place the ID card on the card reader.", "Take the ID card from the person's hand.", "Pick up the room key from the key card box.", "Hand the ID card to the person.", "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.camera_head_rgb", "name": "camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_left_wrist_rgb", "name": "camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_right_wrist_rgb", "name": "camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] } }, "action_space": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "leju_robot_hotel_services_f_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.camera_head_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.camera_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.camera_right_wrist_rgb/\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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "hotel_services_f", "dataset_uuid": null, "task_descriptions": [ "take identity card and place it on card reader then give identity card and room card to human." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "card", "level1": "nfc", "level2": "card", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "card_reader", "level1": "electronic_products", "level2": "card_reader", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "leju_kuavo_4_pro" ], "end_effector_type": "five_finger_gripper" } }, "G1edu-u3_pullBowl_storage_bread_unordered_C": { "dataset_name": "pullBowl_storage_bread_unordered_C", "dataset_uuid": "11ed8a7f-106a-4c08-98a4-0abdd1b97a51", "scene_type": [ "home", "kitchen" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "five_finger_hand", "three_finger_hand" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "basket", "level1": "container", "level2": "basket", "level3": null, "level4": null, "level5": null }, { "object_name": "bowl", "level1": "container", "level2": "bowl", "level3": null, "level4": null, "level5": null }, { "object_name": "donut", "level1": "food", "level2": "donut", "level3": null, "level4": null, "level5": null }, { "object_name": "cake", "level1": "food", "level2": "cake", "level3": null, "level4": null, "level5": null } ], "path": "G1edu-u3_pullBowl_storage_bread_unordered_C", "video_url": "./assets/videos/G1edu-u3_pullBowl_storage_bread_unordered_C.mp4", "thumbnail_url": "./assets/thumbnails/G1edu-u3_pullBowl_storage_bread_unordered_C.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "2.2GB", "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": "G1edu-u3", "codebase_version": "v2.1", "statistics": { "total_episodes": 190, "total_frames": 110085, "total_tasks": 1, "total_videos": 570, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:189" }, "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.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_left_high": { "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 }, "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": "Push the bowl to the center of the table and put the bread into the bowl.", "sub_tasks": [ "Place the long bread in pink bowl with left hand", "End", "Grasp the round bread with left hand", "Grasp the long bread with left hand", "Place the round bread in pink bowl with left hand", "Move the pink bowl to the center of table with right hand", "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_left_high", "name": "cam_left_high", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist", "name": "cam_left_wrist", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist", "name": "cam_right_wrist", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_left_high", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channel" ] }, { "key": "observation.images.cam_left_wrist", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channel" ] }, { "key": "observation.images.cam_right_wrist", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channel" ] } ], "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_space": { "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "G1edu-u3_pullBowl_storage_bread_unordered_C_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_left_high/\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/\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/\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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "pullBowl_storage_bread_unordered_C", "dataset_uuid": null, "task_descriptions": [ "pick up the donut from the bowl and place it in the plate pick up the cake from the bowl and place it in the basket." ], "scene_type": [ "home", "kitchen" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "basket", "level1": "container", "level2": "basket", "level3": null, "level4": null, "level5": null }, { "object_name": "bowl", "level1": "container", "level2": "bowl", "level3": null, "level4": null, "level5": null }, { "object_name": "donut", "level1": "food", "level2": "donut", "level3": null, "level4": null, "level5": null }, { "object_name": "cake", "level1": "food", "level2": "cake", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "unitree_g1" ], "end_effector_type": [ "five_finger_hand", "three_finger_hand" ] } }, "RMC-AIDA-L_plate_storage": { "dataset_name": "plate_storage", "dataset_uuid": "8c203fd8-2988-4e8f-8ddc-eedbb69dcdfe", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "shelf", "level1": "furniture", "level2": "shelf", "level3": null, "level4": null, "level5": null } ], "path": "RMC-AIDA-L_plate_storage", "video_url": "./assets/videos/RMC-AIDA-L_plate_storage.mp4", "thumbnail_url": "./assets/thumbnails/RMC-AIDA-L_plate_storage.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "1.8GB", "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": "RMC-AIDA-L", "codebase_version": "v2.1", "statistics": { "total_episodes": 498, "total_frames": 284602, "total_tasks": 2, "total_videos": 1494, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:497" }, "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.state": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] }, "action": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "Grip the plate with one hand, pass it to the other, then set it on the shelf.\nGrip the plate with one hand, pass it to the other, then set it on the shelf.", "sub_tasks": [ "Place the plate on the shelf with the right gripper", "End", "Pick up the plate with the right gripper", "Pick up the plate with the left gripper", "Pass the plate from the left gripper to the right gripper", "Pass the plate from the right gripper to the left gripper", "Place the plate on the shelf with the left gripper", "abnormal", "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 } ], "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" ] } ], "state": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] } }, "action_space": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "RMC-AIDA-L_plate_storage_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "plate_storage", "dataset_uuid": null, "task_descriptions": [ "grip the plate with the left hand, pass it to the right, then set it on the shelf.", "grip the plate with the right hand, pass it to the left, then set it on the shelf." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "shelf", "level1": "furniture", "level2": "shelf", "level3": null, "level4": null, "level5": null } ], "device_model": [ "realman_rmc_aidal" ], "end_effector_type": "two_finger_gripper", "operation_platform_height": 77.2 } }, "G1edu-u3_tray_storage_lemon_a": { "dataset_name": "tray_storage_lemon_a", "dataset_uuid": "50af80c8-eb74-4dec-9689-8bea0af5a8c2", "scene_type": [ "home" ], "atomic_actions": [ "pick", "place" ], "end_effector_type": [ "three_finger_hand" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "lemon", "level1": "fruit", "level2": "lemon", "level3": null, "level4": null, "level5": null }, { "object_name": "tray", "level1": "container", "level2": "tray", "level3": null, "level4": null, "level5": null } ], "path": "G1edu-u3_tray_storage_lemon_a", "video_url": "./assets/videos/G1edu-u3_tray_storage_lemon_a.mp4", "thumbnail_url": "./assets/thumbnails/G1edu-u3_tray_storage_lemon_a.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "1K-10K", "dataset_size": "27.2MB", "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": "G1edu-u3", "codebase_version": "v2.1", "statistics": { "total_episodes": 13, "total_frames": 2298, "total_tasks": 1, "total_videos": 13, "total_chunks": 1, "chunks_size": 13, "fps": 30 }, "splits": { "train": "0:12" }, "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.ego_view": { "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.state": { "dtype": "float32", "shape": [ 30 ], "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": [ 30 ], "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": "float64", "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": "Pick up the red apple\nPick up the red apple\nPick up the water bottle\nPick up the water bottle\nPick up the white cup\nPick up the lemon\nPlace the red apple\nPlace the red apple in the basket\nPlace the red apple on the blue rectangle plate\nPlace the red apple on the orange round plate\nPlace the water bottle\nPlace the water bottle\nPlace the white cup\nPlace the lemon on the blue rectangle plate\nPlace the lemon on the orange round plate", "sub_tasks": [ "Place the lemon on the blue plate with left gripper", "Place the lemon on the blue plate with right gripper", "End", "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.ego_view", "name": "ego_view", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.ego_view", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channel" ] } ], "state": { "dtype": "float32", "shape": [ 30 ], "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_space": { "dtype": "float32", "shape": [ 30 ], "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "G1edu-u3_tray_storage_lemon_a_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.ego_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "tray_storage_lemon_a", "dataset_uuid": null, "task_descriptions": [ "put the lemon in the tray." ], "scene_type": [ "home" ], "atomic_actions": [ "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "lemon", "level1": "fruit", "level2": "lemon", "level3": null, "level4": null, "level5": null }, { "object_name": "tray", "level1": "container", "level2": "tray", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "unitree_g1" ], "end_effector_type": "three_finger_hand" } }, "AIRBOT_MMK2_clean_the_desktop": { "dataset_name": "clean_the_desktop", "dataset_uuid": "05f361bc-b167-4623-b38b-a9371aa7d999", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "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": "calculator_box", "level1": "tools", "level2": "umbrella", "level3": null, "level4": null, "level5": null } ], "path": "AIRBOT_MMK2_clean_the_desktop", "video_url": "./assets/videos/AIRBOT_MMK2_clean_the_desktop.mp4", "thumbnail_url": "./assets/thumbnails/AIRBOT_MMK2_clean_the_desktop.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "1K-10K", "dataset_size": "327.5MB", "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": 8709, "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": "place the umbrella and tissues on the white lid.", "sub_tasks": [ "Place the umbrella on the white lid with the left gripper", "Place the tissue on the white lid with the right gripper", "Grasp the tissue with the right gripper", "Grasp the umbrella with the left gripper", "End", "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_clean_the_desktop_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "place_the_calculator_box", "dataset_uuid": null, "task_descriptions": [ "pick the calculator box by left hand and give it to right hand,and then place it on the table by right hand" ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "calculator_box", "level1": "tools", "level2": "umbrella", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "airbot mmk2" ], "end_effector_type": "five_finger_hand" } }, "AIRBOT_MMK2_mobile_calculator_box": { "dataset_name": "mobile_calculator_box", "dataset_uuid": "7629d634-2d89-41ad-a722-364a319f374b", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "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": "calculator_box", "level1": "container", "level2": "calculator_box", "level3": null, "level4": null, "level5": null }, { "object_name": "lid", "level1": "container", "level2": "lid", "level3": null, "level4": null, "level5": null } ], "path": "AIRBOT_MMK2_mobile_calculator_box", "video_url": "./assets/videos/AIRBOT_MMK2_mobile_calculator_box.mp4", "thumbnail_url": "./assets/thumbnails/AIRBOT_MMK2_mobile_calculator_box.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "1.1GB", "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": 150, "total_frames": 34396, "total_tasks": 2, "total_videos": 600, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:149" }, "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": "One hand picked up the white lid from one side of the table and passed it to the other hand, which then placed the lid on the opposite side of the table.\nPick up the calculator box from one side of the table with one hand and pass it to your other hand, which will then place the box on the opposite side of the table.", "sub_tasks": [ "Grasp the calculator case with left gripper", "End", "Place the calculator case in the center of table with right gripper", "Place the white box in the center of table with right gripper", "Pass the white box to right gripper", "Grasp the yellow book with left gripper", "Place the yellow book in the center of table with right gripper", "Pass the yellow book to right gripper", "Pass the calculator case to right gripper", "Grasp the white box with 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_mobile_calculator_box_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "mobile_calculator_box", "dataset_uuid": null, "task_descriptions": [ "pick up the calculator box from the left side of the table with your left hand and pass it to your right hand, which will then place the calculator box on the right side of the table.", "the left hand picked up the white lid from the left side of the table and passed it to the right hand, and the right hand placed the white lid on the right side of the table." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "calculator_box", "level1": "container", "level2": "calculator_box", "level3": null, "level4": null, "level5": null }, { "object_name": "lid", "level1": "container", "level2": "lid", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "discover_robotics_aitbot_mmk2" ], "end_effector_type": "two_finger_gripper" } }, "AgiBot-g1_mobile_accessory_storage_box_d": { "dataset_name": "mobile_accessory_storage_box_d", "dataset_uuid": "add3803d-befc-4ae5-8bc7-b6d81060cdcf", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "accessories", "level1": "electronic_products", "level2": "accessories", "level3": null, "level4": null, "level5": null } ], "path": "AgiBot-g1_mobile_accessory_storage_box_d", "video_url": "./assets/videos/AgiBot-g1_mobile_accessory_storage_box_d.mp4", "thumbnail_url": "./assets/thumbnails/AgiBot-g1_mobile_accessory_storage_box_d.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "7.6GB", "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": "AgiBot-g1", "codebase_version": "v2.1", "statistics": { "total_episodes": 30, "total_frames": 17860, "total_tasks": 1, "total_videos": 240, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:29" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "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, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_back_left_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_back_right_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_center_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_left_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_right_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "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": [ 41 ], "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open", "robot_pos_x_m", "robot_pos_y_m", "robot_pos_z_m", "robot_quat_x", "robot_quat_y", "robot_quat_z", "robot_quat_w" ] }, "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", "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_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 }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "move the position of the storage box with accessories on the table.", "sub_tasks": [ "Grasp the mouse and data cable", "Place the mouse and data cable in the paper box", "End", "Place the mouse in the paper box", "Grab and pick up the mouse and power cord from the accessory packaging area.", "Abnormal", "Place the mouse and power cord into the box.", "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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_back_left_fisheye_rgb", "name": "cam_back_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_back_right_fisheye_rgb", "name": "cam_back_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_center_fisheye_rgb", "name": "cam_high_center_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_left_fisheye_rgb", "name": "cam_high_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_right_fisheye_rgb", "name": "cam_high_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_back_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_back_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_center_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 41 ], "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open", "robot_pos_x_m", "robot_pos_y_m", "robot_pos_z_m", "robot_quat_x", "robot_quat_y", "robot_quat_z", "robot_quat_w" ] } }, "action_space": { "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", "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "AgiBot-g1_mobile_accessory_storage_box_d_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_back_left_fisheye_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_back_right_fisheye_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_high_center_fisheye_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_high_left_fisheye_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_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_high_right_fisheye_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "mobile_accessory_storage_box_d", "dataset_uuid": null, "task_descriptions": [ "move the position of the storage box with accessories on the table." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "accessories", "level1": "electronic_products", "level2": "accessories", "level3": null, "level4": null, "level5": null } ], "-operation_platform_height": null, "device_model": [ "ruantong_a2d" ], "end_effector_type": "two_finger_gripper" } }, "alpha_bot_2_pass_the_sandbag": { "dataset_name": "pass_the_sandbag", "dataset_uuid": "81e68aa6-8f11-4edf-9c00-cc322e4fc0c9", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "sandbag", "level1": "toy", "level2": "sandbag", "level3": null, "level4": null, "level5": null } ], "path": "alpha_bot_2_pass_the_sandbag", "video_url": "./assets/videos/alpha_bot_2_pass_the_sandbag.mp4", "thumbnail_url": "./assets/thumbnails/alpha_bot_2_pass_the_sandbag.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "2.0GB", "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": "alpha_bot_2", "codebase_version": "v2.1", "statistics": { "total_episodes": 86, "total_frames": 69956, "total_tasks": 1, "total_videos": 344, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:85" }, "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_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_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": [ 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", "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" ] }, "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", "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" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "One hand took the sandbag from the other hand and placed it on the table.", "sub_tasks": [ "Pass the paper ball to the right gripper", "End", "Place the paper ball on the table with right gripper", "Grasp the paper ball with 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_chest_rgb", "name": "cam_chest_rgb", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_head_rgb", "name": "cam_head_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 } ], "observation_space": { "images": [ { "key": "observation.images.cam_chest_rgb", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_head_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" ] } ], "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", "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" ] } }, "action_space": { "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", "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "alpha_bot_2_pass_the_sandbag_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_chest_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_head_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "pass_the_sandbag", "dataset_uuid": null, "task_descriptions": [ "the right hand took the sandbag from the left hand and placed it on the table." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "sandbag", "level1": "toy", "level2": "sandbag", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "ai² aiphabot 2" ], "end_effector_type": "two_finger_gripper" } }, "leju_robot_box_storage_parcel": { "dataset_name": "box_storage_parcel", "dataset_uuid": "b6a8ebae-9a8f-44c4-a7a1-7893c558480b", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "five_finger_hand" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "parcel", "level1": "container", "level2": "parcel", "level3": null, "level4": null, "level5": null }, { "object_name": "conveyor_belt", "level1": "tool", "level2": "conveyor_belt", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null } ], "path": "leju_robot_box_storage_parcel", "video_url": "./assets/videos/leju_robot_box_storage_parcel.mp4", "thumbnail_url": "./assets/thumbnails/leju_robot_box_storage_parcel.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "27.2GB", "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": "leju_robot", "codebase_version": "v2.1", "statistics": { "total_episodes": 443, "total_frames": 537851, "total_tasks": 1, "total_videos": 1329, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:442" }, "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.camera_head_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_left_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_right_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "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": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] }, "action": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "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": "moved the parcel from conveyor to table for the left to box.", "sub_tasks": [ "Grasp the package on the scanner with left gripper", "Abnormal", "Put the parcel inside the courier box.", "Place the parcel onto the inbound machine.", "Place the parcel into the delivery box.", "Grasp the package on the conveyor belt with right gripper", "Place the package in the green box with left gripper", "End", "Pick up the parcel from the conveyor belt.", "Take the parcel off the conveyor belt.", "Place the package on the scanner with right gripper", "Pick up the parcel from the inbound machine.", "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.camera_head_rgb", "name": "camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_left_wrist_rgb", "name": "camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_right_wrist_rgb", "name": "camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] } }, "action_space": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "leju_robot_box_storage_parcel_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.camera_head_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.camera_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.camera_right_wrist_rgb/\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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "box_storage_parcel", "dataset_uuid": null, "task_descriptions": [ "moved the parcel from conveyor to table for the left to box." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "parcel", "level1": "container", "level2": "parcel", "level3": null, "level4": null, "level5": null }, { "object_name": "conveyor_belt", "level1": "tool", "level2": "conveyor_belt", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "leju_robot" ], "end_effector_type": "two_finger_gripper" } }, "leju_robot_moving_parts_s": { "dataset_name": "moving_parts_s", "dataset_uuid": "4f3b96f0-482a-45ca-9176-d8cdf62101c7", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "end_effector_type": [ "five_finger_hand" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "cabinet", "level1": "furniture", "level2": "cabinet", "level3": null, "level4": null, "level5": null }, { "object_name": "parts", "level1": "mechanical_parts", "level2": "parts", "level3": null, "level4": null, "level5": null } ], "path": "leju_robot_moving_parts_s", "video_url": "./assets/videos/leju_robot_moving_parts_s.mp4", "thumbnail_url": "./assets/thumbnails/leju_robot_moving_parts_s.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "53.8GB", "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": "leju_robot", "codebase_version": "v2.1", "statistics": { "total_episodes": 495, "total_frames": 776972, "total_tasks": 1, "total_videos": 1485, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:494" }, "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.camera_head_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_left_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_right_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "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": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] }, "action": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "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": "take the parts from the cabinet and place them on the table.", "sub_tasks": [ "Return to the initial position at the shelf", "Grasp the black part with right gripper", "End", "Abnormal", "Pick up the large material from the shelf", "Place the black part on the table with right gripper", "Move to the table behind body", "Move the large material to the workbench", "Insert the large material into the corresponding slot on the workbench", "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.camera_head_rgb", "name": "camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_left_wrist_rgb", "name": "camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_right_wrist_rgb", "name": "camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] } }, "action_space": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "leju_robot_moving_parts_s_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.camera_head_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.camera_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.camera_right_wrist_rgb/\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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "moving_parts_s", "dataset_uuid": null, "task_descriptions": [ "take the parts from the cabinet and place them on the table." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "cabinet", "level1": "furniture", "level2": "cabinet", "level3": null, "level4": null, "level5": null }, { "object_name": "parts", "level1": "mechanical_parts", "level2": "parts", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "leju_robot" ], "end_effector_type": "two_finger_gripper" } }, "AIRBOT_MMK2_clean_the_desktop_a": { "dataset_name": "clean_the_desktop_a", "dataset_uuid": "05f361bc-b167-4623-b38b-a9371aa7d998", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "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": "calculator_box", "level1": "tools", "level2": "umbrella", "level3": null, "level4": null, "level5": null } ], "path": "AIRBOT_MMK2_clean_the_desktop_a", "video_url": "./assets/videos/AIRBOT_MMK2_clean_the_desktop_a.mp4", "thumbnail_url": "./assets/thumbnails/AIRBOT_MMK2_clean_the_desktop_a.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "1K-10K", "dataset_size": "338.3MB", "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": 50, "total_frames": 9819, "total_tasks": 1, "total_videos": 200, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:49" }, "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": "place the umbrella and tissues on the white lid.", "sub_tasks": [ "Place the calculator case in the center of table with right gripper", "Grasp the calculator case with left gripper", "Pass the calculator case to right gripper", "End", "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_clean_the_desktop_a_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "place_the_calculator_box", "dataset_uuid": null, "task_descriptions": [ "pick the calculator box by left hand and give it to right hand,and then place it on the table by right hand" ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "calculator_box", "level1": "tools", "level2": "umbrella", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "airbot mmk2" ], "end_effector_type": "five_finger_hand" } }, "AIRBOT_MMK2_store_beauty_blender_and_building_blocks": { "dataset_name": "store_beauty_blender_and_building_blocks", "dataset_uuid": "fee911a7-d998-45da-b549-b1621ca063be", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "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": "marble", "level1": "toy", "level2": "marble", "level3": null, "level4": null, "level5": null }, { "object_name": "building_blocks", "level1": "toy", "level2": "building_blocks", "level3": null, "level4": null, "level5": null }, { "object_name": "bowl", "level1": "container", "level2": "bowl", "level3": null, "level4": null, "level5": null } ], "path": "AIRBOT_MMK2_store_beauty_blender_and_building_blocks", "video_url": "./assets/videos/AIRBOT_MMK2_store_beauty_blender_and_building_blocks.mp4", "thumbnail_url": "./assets/thumbnails/AIRBOT_MMK2_store_beauty_blender_and_building_blocks.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "1K-10K", "dataset_size": "300.5MB", "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": 50, "total_frames": 9178, "total_tasks": 1, "total_videos": 200, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:49" }, "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": "Throw the beauty blender into the bowl with one hand, and then throw the building blocks into the bowl with the other hand.", "sub_tasks": [ "Grasp the green cuboid block with the right gripper", "Place the bullet into the bowl with the left gripper", "End", "Grasp the bullet with the left gripper", "Abnormal", "Place the green cuboid block into the bowl with the right 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_store_beauty_blender_and_building_blocks_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "store_marble_and_building_blocks", "dataset_uuid": null, "task_descriptions": [ "throw the marble into the bowl with your left hand, and then throw the building blocks into the bowl with your right hand." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "marble", "level1": "toy", "level2": "marble", "level3": null, "level4": null, "level5": null }, { "object_name": "building_blocks", "level1": "toy", "level2": "building_blocks", "level3": null, "level4": null, "level5": null }, { "object_name": "bowl", "level1": "container", "level2": "bowl", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "airbot mmk2" ], "end_effector_type": "five_finger_hand" } }, "RMC-AIDA-L_place_the_fruits_repeatedly": { "dataset_name": "place_the_fruits_repeatedly", "dataset_uuid": "3448d8ea-8209-43cf-bfcc-550863a26b13", "scene_type": [ "kitchen" ], "atomic_actions": [ "grasp", "place", "pick", "pour" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "bowl", "level1": "container", "level2": "bowl", "level3": null, "level4": null, "level5": null }, { "object_name": "peach", "level1": "fruit", "level2": "peach", "level3": null, "level4": null, "level5": null }, { "object_name": "orange", "level1": "fruit", "level2": "orange", "level3": null, "level4": null, "level5": null }, { "object_name": "egg_yolk_pastry", "level1": "food", "level2": "egg_yolk_pastry", "level3": null, "level4": null, "level5": null }, { "object_name": "bread", "level1": "food", "level2": "bread", "level3": null, "level4": null, "level5": null } ], "path": "RMC-AIDA-L_place_the_fruits_repeatedly", "video_url": "./assets/videos/RMC-AIDA-L_place_the_fruits_repeatedly.mp4", "thumbnail_url": "./assets/thumbnails/RMC-AIDA-L_place_the_fruits_repeatedly.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "3.7GB", "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": "RMC-AIDA-L", "codebase_version": "v2.1", "statistics": { "total_episodes": 481, "total_frames": 541540, "total_tasks": 8, "total_videos": 1443, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:480" }, "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.state": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] }, "action": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "put the bread into the blue bowl and pour it out repeatedly.\nput the egg yolk pastry into the blue bowl and pour it out repeatedly.\nput the orange into the blue bowl and pour it out repeatedly.\nput the peach into the blue bowl and pour it out repeatedly.\nput the bread into the pink bowl and pour it out repeatedly.\nput the egg yolk pastry into the pink bowl and pour it out repeatedly.\nput the orange into the pink bowl and pour it out repeatedly.\nput the peach into the pink bowl and pour it out repeatedly.", "sub_tasks": [ "Pick up the bowl with the left gripper", "Place the bread into the bowl", "abnormal", "Pick up the egg yolk pastry with the right gripper", "Pour the egg yolk pastry out of bowl", "Pour the orange out of the bowl", "Place the peach into the bowl", "Pour the peach out of bowl", "Place the egg yolk pastry into the bowl", "Pick up the bread with the right gripper", "Pick up the peach with the right gripper", "Pour the bread out of the bowl", "end", "Place the bowl on the table", "Place the orange into the bowl", "Pick up the orange with the right 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 } ], "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" ] } ], "state": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] } }, "action_space": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "RMC-AIDA-L_place_the_fruits_repeatedly_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "place_the_fruits_repeatedly", "dataset_uuid": null, "task_descriptions": [ "put the peach into the blue bowl and pour it out repeatedly.", "put the orange into the blue bowl and pour it out repeatedly.", "put the egg yolk pastry into the blue bowl and pour it out repeatedly.", "put the bread into the blue bowl and pour it out repeatedly.", "put the peach into the pink bowl and pour it out repeatedly.", "put the orange into the pink bowl and pour it out repeatedly.", "put the egg yolk pastry into the pink bowl and pour it out repeatedly.", "put the bread into the pink bowl and pour it out repeatedly." ], "scene_type": [ "kitchen" ], "atomic_actions": [ "grasp", "place", "pick", "pour" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "bowl", "level1": "container", "level2": "bowl", "level3": null, "level4": null, "level5": null }, { "object_name": "peach", "level1": "fruit", "level2": "peach", "level3": null, "level4": null, "level5": null }, { "object_name": "orange", "level1": "fruit", "level2": "orange", "level3": null, "level4": null, "level5": null }, { "object_name": "egg_yolk_pastry", "level1": "food", "level2": "egg_yolk_pastry", "level3": null, "level4": null, "level5": null }, { "object_name": "bread", "level1": "food", "level2": "bread", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "realman rmc-aida-l" ], "end_effector_type": "two_finger_gripper" } }, "AIRBOT_MMK2_place_the_piano_and_the_needle-nose_pliers": { "dataset_name": "place_the_piano_and_the_needle-nose_pliers", "dataset_uuid": "230992b4-bba2-4f5b-99ce-03e63d148ce1", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "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": "hand_tapping_the_qin", "level1": "toy", "level2": "hand_tapping_the_qin", "level3": null, "level4": null, "level5": null }, { "object_name": "lid", "level1": "container", "level2": "lid", "level3": null, "level4": null, "level5": null }, { "object_name": "long-nose_pliers", "level1": "tool", "level2": "long-nose_pliers", "level3": null, "level4": null, "level5": null } ], "path": "AIRBOT_MMK2_place_the_piano_and_the_needle-nose_pliers", "video_url": "./assets/videos/AIRBOT_MMK2_place_the_piano_and_the_needle-nose_pliers.mp4", "thumbnail_url": "./assets/thumbnails/AIRBOT_MMK2_place_the_piano_and_the_needle-nose_pliers.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "826.8MB", "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": 25318, "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": "Use one hand to pick up the piano and place it on the white lid, then use your other hand to pick up the pointed nose pliers and place them on the white lid.", "sub_tasks": [ "End", "Static", "Place the tongs on the white lid with the right gripper", "Grasp the tongs with the right gripper", "Place the xylophone on the white lid with the left gripper", "Grasp the xylophone with the left gripper", "Abnormal", "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_place_the_piano_and_the_needle-nose_pliers_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "place_the_hand_tapping_the_qin_and_the_long-nose_pliers", "dataset_uuid": null, "task_descriptions": [ "use your left hand to pick up the hand tapping the qin and place it on the white lid. then, use your right hand to pick up the long-nose pliers and place them on the white lid." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "hand_tapping_the_qin", "level1": "toy", "level2": "hand_tapping_the_qin", "level3": null, "level4": null, "level5": null }, { "object_name": "lid", "level1": "container", "level2": "lid", "level3": null, "level4": null, "level5": null }, { "object_name": "long-nose_pliers", "level1": "tool", "level2": "long-nose_pliers", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "airbot mmk2" ], "end_effector_type": "five_finger_hand" } }, "AIRBOT_MMK2_take_the_book": { "dataset_name": "take_the_book", "dataset_uuid": "a04264d7-7e81-40cc-af53-0ec87db1f556", "scene_type": [ "home" ], "atomic_actions": [ "pick" ], "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": "bookshelf", "level1": "container", "level2": "bookshelf", "level3": null, "level4": null, "level5": null }, { "object_name": "book", "level1": "stationery", "level2": "book", "level3": null, "level4": null, "level5": null } ], "path": "AIRBOT_MMK2_take_the_book", "video_url": "./assets/videos/AIRBOT_MMK2_take_the_book.mp4", "thumbnail_url": "./assets/thumbnails/AIRBOT_MMK2_take_the_book.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "1K-10K", "dataset_size": "352.3MB", "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": 79, "total_frames": 9314, "total_tasks": 2, "total_videos": 316, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:78" }, "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": "A hand's index finger hooked the book \"century\" off the bookshelf.\nA hand's index finger hooked the book \"letitbe\" off the bookshelf.", "sub_tasks": [ "Lay the book down with the right gripper", "Hold the book with the right gripper", "Abnormal", "End", "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_take_the_book_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "take_the_book", "dataset_uuid": null, "task_descriptions": [ "the index finger of the right hand hooked the book \"century\" off the bookshelf.", "the index finger of the right hand hooked the book \"letitbe\" off the bookshelf." ], "scene_type": [ "home" ], "atomic_actions": [ "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "bookshelf", "level1": "container", "level2": "bookshelf", "level3": null, "level4": null, "level5": null }, { "object_name": "book", "level1": "stationery", "level2": "book", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "airbot mmk2" ], "end_effector_type": "five_finger_hand" } }, "Cobot_Magic_move_the_plate": { "dataset_name": "move_the_plate", "dataset_uuid": "8d39690e-e415-4f1c-9e39-2c0a83b6fe12", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null } ], "path": "Cobot_Magic_move_the_plate", "video_url": "./assets/videos/Cobot_Magic_move_the_plate.mp4", "thumbnail_url": "./assets/thumbnails/Cobot_Magic_move_the_plate.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "418.0MB", "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": "Cobot_Magic", "codebase_version": "v2.1", "statistics": { "total_episodes": 98, "total_frames": 25057, "total_tasks": 1, "total_videos": 294, "total_chunks": 1, "chunks_size": 1000, "fps": 50 }, "splits": { "train": "0:97" }, "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": 50, "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": 50, "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": 50, "video.channels": 3, "has_audio": false } }, "observation.state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "Move the plate that can hold fruits to one side of the table.", "sub_tasks": [ "Pick the container that can hold fruits", "Move the picked object to the right side of the table", "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": 50, "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": 50, "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": 50, "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" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Cobot_Magic_move_the_plate_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "move_the_plate", "dataset_uuid": null, "task_descriptions": [ "move the plate that can hold fruits to the right side of the table." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "agilex_cobot_decoupled_magic" ], "end_effector_type": "two_finger_gripper" } }, "AgiBot-g1_robotic_arm_picks_up_battery": { "dataset_name": "robotic_arm_picks_up_battery", "dataset_uuid": "14af3598-fff7-4c0b-bca2-16c57884c70e", "scene_type": [ "factory" ], "atomic_actions": [ "place", "pick", "grasp" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "carton", "level1": "tool", "level2": "carton", "level3": null, "level4": null, "level5": null }, { "object_name": "battery", "level1": "tool", "level2": "battery", "level3": null, "level4": null, "level5": null } ], "path": "AgiBot-g1_robotic_arm_picks_up_battery", "video_url": "./assets/videos/AgiBot-g1_robotic_arm_picks_up_battery.mp4", "thumbnail_url": "./assets/thumbnails/AgiBot-g1_robotic_arm_picks_up_battery.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "17.9GB", "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": "AgiBot-g1", "codebase_version": "v2.1", "statistics": { "total_episodes": 56, "total_frames": 30215, "total_tasks": 1, "total_videos": 448, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:55" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "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, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_back_left_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_back_right_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_center_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_left_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_right_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "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": [ 41 ], "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open", "robot_pos_x_m", "robot_pos_y_m", "robot_pos_z_m", "robot_quat_x", "robot_quat_y", "robot_quat_z", "robot_quat_w" ] }, "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", "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_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 }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "take the battery and put it on the table.", "sub_tasks": [ "Place the power supply on the operating table.", "Grab and lift the power supply from the large box.", "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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_back_left_fisheye_rgb", "name": "cam_back_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_back_right_fisheye_rgb", "name": "cam_back_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_center_fisheye_rgb", "name": "cam_high_center_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_left_fisheye_rgb", "name": "cam_high_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_right_fisheye_rgb", "name": "cam_high_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_back_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_back_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_center_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 41 ], "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open", "robot_pos_x_m", "robot_pos_y_m", "robot_pos_z_m", "robot_quat_x", "robot_quat_y", "robot_quat_z", "robot_quat_w" ] } }, "action_space": { "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", "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "AgiBot-g1_robotic_arm_picks_up_battery_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_back_left_fisheye_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_back_right_fisheye_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_high_center_fisheye_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_high_left_fisheye_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_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_high_right_fisheye_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "robotic_arm_picks_up_battery", "dataset_uuid": null, "task_descriptions": [ "take the battery and put it on the table." ], "scene_type": [ "factory" ], "atomic_actions": [ "place", "pick", "grasp" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "carton", "level1": "tool", "level2": "carton", "level3": null, "level4": null, "level5": null }, { "object_name": "battery", "level1": "tool", "level2": "battery", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "tianqing_a2d" ], "end_effector_type": "two_finger_gripper" } }, "alpha_bot_2_stack_building_blocks": { "dataset_name": "stack_building_blocks", "dataset_uuid": "f7781909-81c7-40ee-98a5-67783a48dc66", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "building_blocks", "level1": "toy", "level2": "building_blocks", "level3": null, "level4": null, "level5": null } ], "path": "alpha_bot_2_stack_building_blocks", "video_url": "./assets/videos/alpha_bot_2_stack_building_blocks.mp4", "thumbnail_url": "./assets/thumbnails/alpha_bot_2_stack_building_blocks.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "3.4GB", "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": "alpha_bot_2", "codebase_version": "v2.1", "statistics": { "total_episodes": 139, "total_frames": 130049, "total_tasks": 1, "total_videos": 556, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:138" }, "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_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_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": [ 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", "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" ] }, "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", "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" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "stack building blocks on the table.", "sub_tasks": [ "Grasp the blue building block with left gripper", "End", "Place the pink building block in the center of table with left gripper", "Grasp the pink building block with left gripper", "Place the blue building block on the pink building blocks with left gripper", "Grasp the green building block with left gripper", "Place the pink building block on the blue building blocks with right gripper", "Place the green block on the pink block with left gripper", "Place the blue building block on the blue building blocks with right gripper", "Place the blue building block on the pink building blocks with right gripper", "Grasp the blue building block with right gripper", "Place the pink building block on the blue building blocks with left gripper", "Place the blue building block on the blue building blocks with left gripper", "Grasp the pink building block with right gripper", "Place the pink block on the blue block with right gripper", "Place the blue building block in the center of table with 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_chest_rgb", "name": "cam_chest_rgb", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_head_rgb", "name": "cam_head_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 } ], "observation_space": { "images": [ { "key": "observation.images.cam_chest_rgb", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_head_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" ] } ], "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", "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" ] } }, "action_space": { "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", "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "alpha_bot_2_stack_building_blocks_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_chest_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_head_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "stack_building_blocks", "dataset_uuid": null, "task_descriptions": [ "stack building blocks on the table." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "building_blocks", "level1": "toy", "level2": "building_blocks", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "ai² aiphabot 2" ], "end_effector_type": "two_finger_gripper" } }, "Cobot_Magic_catch_the_ball": { "dataset_name": "catch_the_ball", "dataset_uuid": "3ea12ae6-b4f3-453d-b56f-bca0e5a346c8", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "ball", "level1": "toy", "level2": "ball", "level3": null, "level4": null, "level5": null } ], "path": "Cobot_Magic_catch_the_ball", "video_url": "./assets/videos/Cobot_Magic_catch_the_ball.mp4", "thumbnail_url": "./assets/thumbnails/Cobot_Magic_catch_the_ball.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "877.6MB", "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": "Cobot_Magic", "codebase_version": "v2.1", "statistics": { "total_episodes": 98, "total_frames": 57085, "total_tasks": 1, "total_videos": 294, "total_chunks": 1, "chunks_size": 1000, "fps": 50 }, "splits": { "train": "0:97" }, "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": 50, "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": 50, "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": 50, "video.channels": 3, "has_audio": false } }, "observation.state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "grasp the rolling ball descending the slope.", "sub_tasks": [ "Put the picked-up object on the table.", "Grab the rolling spherical object.", "Grab the spherical object with your left arm.", "Place the sphere on the white object.", "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": 50, "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": 50, "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": 50, "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" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Cobot_Magic_catch_the_ball_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "catch_the_ball", "dataset_uuid": null, "task_descriptions": [ "grasp the rolling ball descending the slope." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "ball", "level1": "toy", "level2": "ball", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "agilex_cobot_decoupled_magic" ], "end_effector_type": "two_finger_gripper" } }, "Cobot_Magic_open_the_shoebox": { "dataset_name": "open_the_shoebox", "dataset_uuid": "1708df8d-97e4-42b0-a8ee-de1bb93b4d77", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pull" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "tablecloth", "level1": "clothing", "level2": "tablecloth", "level3": null, "level4": null, "level5": null } ], "path": "Cobot_Magic_open_the_shoebox", "video_url": "./assets/videos/Cobot_Magic_open_the_shoebox.mp4", "thumbnail_url": "./assets/thumbnails/Cobot_Magic_open_the_shoebox.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "2.7GB", "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": "Cobot_Magic", "codebase_version": "v2.1", "statistics": { "total_episodes": 292, "total_frames": 177109, "total_tasks": 3, "total_videos": 876, "total_chunks": 1, "chunks_size": 1000, "fps": 50 }, "splits": { "train": "0:291" }, "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": 50, "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": 50, "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": 50, "video.channels": 3, "has_audio": false } }, "observation.state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "open the shoebox on the white tablecloth.\nopen the shoebox on the cyan tablecloth.\nopen the shoebox on the table.", "sub_tasks": [ "Open the shoe box", "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": 50, "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": 50, "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": 50, "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" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Cobot_Magic_open_the_shoebox_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "open_the_shoebox", "dataset_uuid": null, "task_descriptions": [ "open the shoebox on the table.", "open the shoebox on the white tablecloth.", "open the shoebox on the cyan tablecloth." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pull" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "tablecloth", "level1": "clothing", "level2": "tablecloth", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "agilex_cobot_magic_aloha" ], "end_effector_type": "two_finger_gripper" } }, "RMC-AIDA-L_pour_rice": { "dataset_name": "pour_rice", "dataset_uuid": "c79b49bf-cadf-4094-831d-bbf6403956c6", "scene_type": [ "kitchen", "restaurant" ], "atomic_actions": [ "grasp", "pick", "place", "pour" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "rice", "level1": "food", "level2": "rice", "level3": null, "level4": null, "level5": null }, { "object_name": "grain_cup", "level1": "container", "level2": "grain_cup", "level3": null, "level4": null, "level5": null }, { "object_name": "rice_cooker", "level1": "home_appliances", "level2": "rice_cooker", "level3": null, "level4": null, "level5": null } ], "path": "RMC-AIDA-L_pour_rice", "video_url": "./assets/videos/RMC-AIDA-L_pour_rice.mp4", "thumbnail_url": "./assets/thumbnails/RMC-AIDA-L_pour_rice.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "2.9GB", "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": "RMC-AIDA-L", "codebase_version": "v2.1", "statistics": { "total_episodes": 714, "total_frames": 413739, "total_tasks": 2, "total_videos": 2142, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:713" }, "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.state": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] }, "action": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "Place the bowl in the middle of the table with one hand and pour the rice from the grain cup into it with the other hand.\nPlace the bowl in the middle of the table with one hand and pour the rice from the grain cup into it with the other hand.", "sub_tasks": [ "Pick up the cup with rice in it with the left gripper", "End", "Move the bowl in the center of view with left gripper", "Pick up the bowl with the left gripper", "Place the cup on the table with the right gripper", "Pour the rice from the cup into the bowl with the left gripper", "Place the bowl in the center of view with the right gripper", "Static", "Place the cup on the table with the left gripper", "Pour the rice from the cup into the bowl with the right gripper", "Pick up the cup with rice in it with the right gripper", "Pick up the bowl with the right gripper", "Place the bowl in the center of view with the left gripper", "Grasp the cup with rice in it with right gripper", "abnormal", "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 } ], "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" ] } ], "state": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] } }, "action_space": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "RMC-AIDA-L_pour_rice_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "pour_rice", "dataset_uuid": null, "task_descriptions": [ "place the bowl in the middle of the table with your right hand and pour the rice from the grain cup into it with your left hand.", "place the bowl in the middle of the table with your left hand and pour the rice from the grain cup into it with your right hand." ], "scene_type": [ "kitchen", "restaurant" ], "atomic_actions": [ "grasp", "pick", "place", "pour" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "rice", "level1": "food", "level2": "rice", "level3": null, "level4": null, "level5": null }, { "object_name": "grain_cup", "level1": "container", "level2": "grain_cup", "level3": null, "level4": null, "level5": null }, { "object_name": "rice_cooker", "level1": "home_appliances", "level2": "rice_cooker", "level3": null, "level4": null, "level5": null } ], "device_model": [ "realman_rmc_aidal" ], "end_effector_type": "two_finger_gripper", "operation_platform_height": 77.2 } }, "AIRBOT_MMK2_bowl_storage_pepper": { "dataset_name": "bowl_storage_pepper", "dataset_uuid": "83f67fd9-c480-4786-ae1d-41475a4f4618", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "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": "chili_pepper", "level1": "vegetables", "level2": "chili_pepper", "level3": null, "level4": null, "level5": null }, { "object_name": "bowl", "level1": "container", "level2": "bowl", "level3": null, "level4": null, "level5": null }, { "object_name": "pumpkin", "level1": "vegetables", "level2": "pumpkin", "level3": null, "level4": null, "level5": null } ], "path": "AIRBOT_MMK2_bowl_storage_pepper", "video_url": "./assets/videos/AIRBOT_MMK2_bowl_storage_pepper.mp4", "thumbnail_url": "./assets/thumbnails/AIRBOT_MMK2_bowl_storage_pepper.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "715.7MB", "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": 150, "total_frames": 19594, "total_tasks": 3, "total_videos": 600, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:149" }, "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": "Use one hand to place the pumpkin into the large white bowl while using your other hand to make space.\nThe person used one hand to throw the chili peppers into the blue bowl.\nUse one hand to place the small bowl into the large one while using your other hand to make space.", "sub_tasks": [ "Place the white bowl on the pink bowl with the left gripper", "Grasp the white bowl with the left gripper", "Static", "End", "Abnormal", "Grasp the pumpkin with the left gripper", "Place the pumpkin on the pink bowl with the left gripper", "Grasp the yellow round chili pepper with the right gripper", "Place yellow round chili pepper on the blue bowl with the right 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_bowl_storage_pepper_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "bowl_storage_pepper", "dataset_uuid": null, "task_descriptions": [ "with the right hand, the person threw the chili peppers into the blue bowl.", "put the pumpkin into the large white bowl with your left hand. give space to your left hand with your right hand.", "put the small bowl into the large one with your left hand, and give space to your left hand with your right hand." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "chili_pepper", "level1": "vegetables", "level2": "chili_pepper", "level3": null, "level4": null, "level5": null }, { "object_name": "bowl", "level1": "container", "level2": "bowl", "level4": null, "level5": null }, { "object_name": "pumpkin", "level1": "vegetables", "level2": "pumpkin", "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "airbot mmk2" ], "end_effector_type": "five_finger_hand" } }, "R1_Lite_move_the_position_of_the_cookie": { "dataset_name": "move_the_position_of_the_cookie", "dataset_uuid": "7015670f-e702-4c08-a662-e74aee0c0872", "scene_type": [ "home" ], "atomic_actions": [ "place", "pick", "grasp" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "pen", "level1": "office_supplies", "level2": "pen", "level3": null, "level4": null, "level5": null }, { "object_name": "banana", "level1": "fruit", "level2": "banana", "level3": null, "level4": null, "level5": null }, { "object_name": "bath_ball", "level1": "daily_necessities", "level2": "bath_ball", "level3": null, "level4": null, "level5": null }, { "object_name": "bowl", "level1": "container", "level2": "bowl", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "can", "level1": "container", "level2": "can", "level3": null, "level4": null, "level5": null }, { "object_name": "eraser", "level1": "office_supplies", "level2": "eraser", "level3": null, "level4": null, "level5": null }, { "object_name": "hard_cleanser", "level1": "daily_necessities", "level2": "hard_cleanser", "level3": null, "level4": null, "level5": null }, { "object_name": "long_bread", "level1": "food", "level2": "long_bread", "level3": null, "level4": null, "level5": null }, { "object_name": "peeler", "level1": "tool", "level2": "peeler", "level3": null, "level4": null, "level5": null }, { "object_name": "block", "level1": "toy", "level2": "block", "level3": null, "level4": null, "level5": null }, { "object_name": "duck", "level1": "toy", "level2": "duck", "level3": null, "level4": null, "level5": null }, { "object_name": "soap", "level1": "daily_necessities", "level2": "soap", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "basket", "level1": 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"level3": null, "level4": null, "level5": null }, { "object_name": "chocolate", "level1": "food", "level2": "chocolate", "level3": null, "level4": null, "level5": null }, { "object_name": "cookie", "level1": "food", "level2": "cookie", "level3": null, "level4": null, "level5": null }, { "object_name": "spoon", "level1": "tableware", "level2": "spoon", "level3": null, "level4": null, "level5": null } ], "path": "R1_Lite_move_the_position_of_the_cookie", "video_url": "./assets/videos/R1_Lite_move_the_position_of_the_cookie.mp4", "thumbnail_url": "./assets/thumbnails/R1_Lite_move_the_position_of_the_cookie.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "1K-10K", "dataset_size": "198.3MB", "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": "R1_Lite", "codebase_version": "v2.1", "statistics": { "total_episodes": 25, "total_frames": 5045, "total_tasks": 1, "total_videos": 100, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:24" }, "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_left_rgb": { "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_right_rgb": { "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 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" ] }, "action": { "dtype": "float32", "shape": [ 18 ], "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 }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "put the cookie the designated position.", "sub_tasks": [ "Place the cookie on the table with right gripper", "Static", "Place the cookie on the table with left gripper", "End", "Grasp the cookie with right gripper", "Grasp the cookie with left gripper", "Abnormal", "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_left_rgb", "name": "cam_high_left_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_right_rgb", "name": "cam_high_right_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_left_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_right_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "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" ] } }, "action_space": { "dtype": "float32", "shape": [ 18 ], "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "R1_Lite_move_the_position_of_the_cookie_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_left_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_high_right_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "move_the_position_of_the_cookie", "dataset_uuid": null, "task_descriptions": [ "put the cookie the designated position." ], "scene_type": [ "home" ], "atomic_actions": [ "place", "pick", "grasp" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "pen", "level1": "office_supplies", "level2": "pen", "level3": null, "level4": null, "level5": null }, { "object_name": "banana", "level1": "fruit", "level2": "banana", "level3": null, "level4": null, "level5": null }, { "object_name": "bath_ball", "level1": "daily_necessities", "level2": "bath_ball", "level3": null, "level4": null, "level5": null }, { "object_name": "bowl", "level1": "container", "level2": "bowl", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "can", "level1": "container", "level2": "can", "level3": null, "level4": null, "level5": null }, { "object_name": "eraser", "level1": "office_supplies", "level2": "eraser", "level3": null, "level4": null, "level5": null }, { "object_name": "hard_cleanser", "level1": "daily_necessities", "level2": "hard_cleanser", "level3": null, "level4": null, "level5": null }, { "object_name": "long_bread", "level1": "food", "level2": "long_bread", "level3": null, "level4": null, "level5": null }, { "object_name": "peeler", "level1": "tool", "level2": "peeler", "level3": null, "level4": null, "level5": null }, { "object_name": "block", "level1": "toy", "level2": "block", "level3": null, "level4": null, "level5": null }, { "object_name": "duck", "level1": "toy", "level2": "duck", "level3": null, "level4": null, "level5": null }, { "object_name": "soap", "level1": "daily_necessities", "level2": "soap", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "basket", "level1": "container", "level2": "basket", "level3": null, "level4": null, "level5": null }, { "object_name": "cola", "level1": "drink", "level2": "cola", "level3": null, "level4": null, "level5": null }, { "object_name": "detergent", "level1": "daily_necessities", "level2": "detergent", "level3": null, "level4": null, "level5": null }, { "object_name": "egg_beater", "level1": "electrical_appliances", "level2": "egg_beater", "level3": null, "level4": null, "level5": null }, { "object_name": "towel", "level1": "clothing", "level2": "towel", "level3": null, "level4": null, "level5": null }, { "object_name": "orange", "level1": "fruit", "level2": "orange", "level3": null, "level4": null, "level5": null }, { "object_name": "peach", "level1": "fruit", "level2": "peach", "level3": null, "level4": null, "level5": null }, { "object_name": "marker", "level1": "office_supplies", "level2": "marker", "level3": null, "level4": null, "level5": null }, { "object_name": "rubiks_cube", "level1": "toy", "level2": "rubiks_cube", "level3": null, "level4": null, "level5": null }, { "object_name": "bread_slice", "level1": "food", "level2": "bread_slice", "level3": null, "level4": null, "level5": null }, { "object_name": "brush", "level1": "daily_necessities", "level2": "brush", "level3": null, "level4": null, "level5": null }, { "object_name": "yogurt", "level1": "drink", "level2": "yogurt", "level3": null, "level4": null, "level5": null }, { "object_name": "power_strip", "level1": "electric_appliance", "level2": "power_strip", "level3": null, "level4": null, "level5": null }, { "object_name": "milk", "level1": "drink", "level2": "milk", "level3": null, "level4": null, "level5": null }, { "object_name": "soda", "level1": "drink", "level2": "soda", "level3": null, "level4": null, "level5": null }, { "object_name": "lime", "level1": "fruit", "level2": "lime", "level3": null, "level4": null, "level5": null }, { "object_name": "coffee_capsule", "level1": "drink", "level2": "coffee_capsule", "level3": null, "level4": null, "level5": null }, { "object_name": "dish", "level1": "container", "level2": "dish", "level3": null, "level4": null, "level5": null }, { "object_name": "glass", "level1": "furniture", "level2": "glass", "level3": null, "level4": null, "level5": null }, { "object_name": "egg_yolk_pastry", "level1": "food", "level2": "egg_yolk_pastry", "level3": null, "level4": null, "level5": null }, { "object_name": "glasses_case", "level1": "daily_necessities", "level2": "glasses_case", "level3": null, "level4": null, "level5": null }, { "object_name": "gum", "level1": "daily_necessities", "level2": "gum", "level3": null, "level4": null, "level5": null }, { "object_name": "tape", "level1": "daily_necessities", "level2": "tape", "level3": null, "level4": null, "level5": null }, { "object_name": "soft_cleanser", "level1": "daily_necessities", "level2": "soft_cleanser", "level3": null, "level4": null, "level5": null }, { "object_name": "chips", "level1": "food", "level2": "chips", "level3": null, "level4": null, "level5": null }, { "object_name": "chocolate", "level1": "food", "level2": "chocolate", "level3": null, "level4": null, "level5": null }, { "object_name": "cookie", "level1": "food", "level2": "cookie", "level3": null, "level4": null, "level5": null }, { "object_name": "spoon", "level1": "tableware", "level2": "spoon", "level3": null, "level4": null, "level5": null } ], "device_model": [ "galaxea_r1_lite" ], "end_effector_type": "two_finger_gripper", "operation_platform_height": 77.2 } }, "G1edu-u3_put_the_lemon_af": { "dataset_name": "put_the_lemon_af", "dataset_uuid": "c37586ed-bc01-40b2-9038-cd26ce06df5b", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place" ], "end_effector_type": [ "three_finger_hand" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "lemon", "level1": "fruit", "level2": "lemon", "level3": null, "level4": null, "level5": null } ], "path": "G1edu-u3_put_the_lemon_af", "video_url": "./assets/videos/G1edu-u3_put_the_lemon_af.mp4", "thumbnail_url": "./assets/thumbnails/G1edu-u3_put_the_lemon_af.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "1K-10K", "dataset_size": "37.1MB", "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": "G1edu-u3", "codebase_version": "v2.1", "statistics": { "total_episodes": 19, "total_frames": 3544, "total_tasks": 1, "total_videos": 19, "total_chunks": 1, "chunks_size": 19, "fps": 30 }, "splits": { "train": "0:18" }, "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.ego_view": { "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.state": { "dtype": "float32", "shape": [ 30 ], "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": [ 30 ], "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": "float64", "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": "Pick up the water bottle\nPick up the bread\nPick up the pink cup\nPick up the lemmon\nPick up the tissue box\nPick up the toy bear\nPlace the water bottle\nPlace the bread\nPlace the pink cup\nPlace the lemon\nPlace the lemon on the orange round plate\nPlace the tissue box\nPlace the toy bear", "sub_tasks": [ "End", "Place the lemon on the table with right gripper", "Place the lemon on the table with 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.ego_view", "name": "ego_view", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.ego_view", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channel" ] } ], "state": { "dtype": "float32", "shape": [ 30 ], "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_space": { "dtype": "float32", "shape": [ 30 ], "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "G1edu-u3_put_the_lemon_af_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.ego_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "put_the_lemon_af", "dataset_uuid": null, "task_descriptions": [ "put the lemon on the table." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "lemon", "level1": "fruit", "level2": "lemon", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "unitree_g1" ], "end_effector_type": "three_finger_hand" } }, "Cobot_Magic_place_square_pyramid": { "dataset_name": "place_square_pyramid", "dataset_uuid": "53a89b6b-14be-4a0e-8495-f3310b2ba5bd", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "cube_block", "level1": "toy", "level2": "cube_block", "level3": null, "level4": null, "level5": null }, { "object_name": "square_pyramid", "level1": "toy", "level2": "square_pyramid", "level3": null, "level4": null, "level5": null } ], "path": "Cobot_Magic_place_square_pyramid", "video_url": "./assets/videos/Cobot_Magic_place_square_pyramid.mp4", "thumbnail_url": "./assets/thumbnails/Cobot_Magic_place_square_pyramid.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "521.2MB", "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": "Cobot_Magic", "codebase_version": "v2.1", "statistics": { "total_episodes": 99, "total_frames": 25851, "total_tasks": 1, "total_videos": 297, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:98" }, "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.state": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "action": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "timestamp": { "dtype": "float32", "shape": [ 1 ], "names": null }, "frame_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "episode_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "task_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "subtask_annotation": { "names": null, "dtype": "int32", "shape": [ 5 ] }, "scene_annotation": { "names": null, "dtype": "int32", "shape": [ 1 ] }, "eef_sim_pose_state": { "names": [ "left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_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 ] }, "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 ] }, "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 ] } }, "tasks": "pick up the square pyramid from the table and place it on the cube block.", "sub_tasks": [ "Place the block onto the cube-shaped block", "Place the triangular block onto the cube block", "End", "Grasp the triangular block", "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 } ], "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" ] } ], "state": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] } }, "action_space": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Cobot_Magic_place_square_pyramid_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "place_square_pyramid", "dataset_uuid": null, "task_descriptions": [ "pick up the square pyramid from the table and place it on the cube block." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "cube_block", "level1": "toy", "level2": "cube_block", "level3": null, "level4": null, "level5": null }, { "object_name": "square_pyramid", "level1": "toy", "level2": "square_pyramid", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "agilex_cobot_decoupled_magic" ], "end_effector_type": "two_finger_gripper" } }, "alpha_bot_2_carry_the_clothes_basket": { "dataset_name": "carry_the_clothes_basket", "dataset_uuid": "0df48917-c10a-469f-8f74-d57f284c09cd", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "clothes_basket", "level1": "container", "level2": "clothes_basket", "level3": null, "level4": null, "level5": null } ], "path": "alpha_bot_2_carry_the_clothes_basket", "video_url": "./assets/videos/alpha_bot_2_carry_the_clothes_basket.mp4", "thumbnail_url": "./assets/thumbnails/alpha_bot_2_carry_the_clothes_basket.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "2.5GB", "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": "alpha_bot_2", "codebase_version": "v2.1", "statistics": { "total_episodes": 50, "total_frames": 46527, "total_tasks": 1, "total_videos": 200, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:49" }, "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_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_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": [ 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", "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" ] }, "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", "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" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "carry the clothes basket in coordination with both hands.", "sub_tasks": [ "Move the basket above the other table", "Grasp the basket with both grippers", "Grasp the basket with left gripper", "Grasp the basket with right gripper", "End", "Place the basket on the table with right gripper", "Place the basket on the table with both grippers", "Place the basket on the table with 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_chest_rgb", "name": "cam_chest_rgb", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_head_rgb", "name": "cam_head_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 } ], "observation_space": { "images": [ { "key": "observation.images.cam_chest_rgb", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_head_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" ] } ], "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", "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" ] } }, "action_space": { "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", "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "alpha_bot_2_carry_the_clothes_basket_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_chest_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_head_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "carry_the_clothes_basket", "dataset_uuid": null, "task_descriptions": [ "carry the clothes basket in coordination with both hands." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "clothes_basket", "level1": "container", "level2": "clothes_basket", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "ai² aiphabot 2" ], "end_effector_type": "two_finger_gripper" } }, "AIRBOT_MMK2_place_the_basin": { "dataset_name": "place_the_basin", "dataset_uuid": "14a514fa-2a43-4b79-bcf6-c7d01e427623", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "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": "basin", "level1": "container", "level2": "basin", "level3": null, "level4": null, "level5": null } ], "path": "AIRBOT_MMK2_place_the_basin", "video_url": "./assets/videos/AIRBOT_MMK2_place_the_basin.mp4", "thumbnail_url": "./assets/thumbnails/AIRBOT_MMK2_place_the_basin.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "1K-10K", "dataset_size": "272.9MB", "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": 50, "total_frames": 7672, "total_tasks": 1, "total_videos": 200, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:49" }, "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": "hold the basin on the table with both hands simultaneously, pick it up and then put it down.", "sub_tasks": [ "Lift the basin with the left gripper ", "Place the basin on the table with the left gripper ", "Grasp the basin with the left gripper ", "Place the basin on the table with the right gripper", "Abnormal", "Static", "End", "Grasp the basin with the right gripper", "Lift the basin with the right 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_place_the_basin_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "place_the_basin", "dataset_uuid": null, "task_descriptions": [ "hold the basin on the table with both hands simultaneously, pick it up and then put it down." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "basin", "level1": "container", "level2": "basin", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "discover_robotics_aitbot_mmk2" ], "end_effector_type": "two_finger_gripper" } }, "G1edu-u3_basket_storage_apple_b": { "dataset_name": "basket_storage_apple_b", "dataset_uuid": "8c0ab1ee-eb0f-48a0-a7be-ff698d2f4651", "scene_type": [ "home" ], "atomic_actions": [ "pick", "place" ], "end_effector_type": [ "three_finger_hand" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "apple", "level1": "fruit", "level2": "apple", "level3": null, "level4": null, "level5": null }, { "object_name": "basket", "level1": "container", "level2": "basket", "level3": null, "level4": null, "level5": null } ], "path": "G1edu-u3_basket_storage_apple_b", "video_url": "./assets/videos/G1edu-u3_basket_storage_apple_b.mp4", "thumbnail_url": "./assets/thumbnails/G1edu-u3_basket_storage_apple_b.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "2.3GB", "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": "G1edu-u3", "codebase_version": "v2.1", "statistics": { "total_episodes": 241, "total_frames": 118352, "total_tasks": 1, "total_videos": 723, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:240" }, "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.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_left_high": { "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 }, "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": "Pick up the grapes and put them on the plate.", "sub_tasks": [ "End", "Place the grapes in the plate with left hand", "Grasp the grapes with left hand", "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_left_high", "name": "cam_left_high", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist", "name": "cam_left_wrist", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist", "name": "cam_right_wrist", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_left_high", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channel" ] }, { "key": "observation.images.cam_left_wrist", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channel" ] }, { "key": "observation.images.cam_right_wrist", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channel" ] } ], "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_space": { "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "G1edu-u3_basket_storage_apple_b_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_left_high/\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/\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/\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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "basket_storage_apple_b", "dataset_uuid": null, "task_descriptions": [ "put the apples in the basket." ], "scene_type": [ "home" ], "atomic_actions": [ "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "apple", "level1": "fruit", "level2": "apple", "level3": null, "level4": null, "level5": null }, { "object_name": "basket", "level1": "container", "level2": "basket", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "unitree_g1" ], "end_effector_type": "three_finger_hand" } }, "leju_robot_moving_parts_i": { "dataset_name": "moving_parts_i", "dataset_uuid": "c8b01b9f-9806-4a5a-a895-01df2cac436f", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "end_effector_type": [ "five_finger_hand" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "cabinet", "level1": "furniture", "level2": "cabinet", "level3": null, "level4": null, "level5": null }, { "object_name": "parts", "level1": "mechanical_parts", "level2": "parts", "level3": null, "level4": null, "level5": null } ], "path": "leju_robot_moving_parts_i", "video_url": "./assets/videos/leju_robot_moving_parts_i.mp4", "thumbnail_url": "./assets/thumbnails/leju_robot_moving_parts_i.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "14.0GB", "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": "leju_robot", "codebase_version": "v2.1", "statistics": { "total_episodes": 155, "total_frames": 229727, "total_tasks": 1, "total_videos": 465, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:154" }, "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.camera_head_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_left_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_right_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "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": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] }, "action": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "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": "take the parts from the cabinet and place them on the table.", "sub_tasks": [ "Move to the initial position of the workbench.", "Grasp the gray part with right gripper", "Insert the small component into the corresponding slot on the workbench.", "Move to the table behind body", "Grasp the white part with right gripper", "Place the gray part on the table with right gripper", "Place the white part on the table with right gripper", "End", "Pick up the small component from the shelf.", "Bring the small component to the front of the workbench.", "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.camera_head_rgb", "name": "camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_left_wrist_rgb", "name": "camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_right_wrist_rgb", "name": "camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] } }, "action_space": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "leju_robot_moving_parts_i_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.camera_head_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.camera_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.camera_right_wrist_rgb/\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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "moving_parts_i", "dataset_uuid": null, "task_descriptions": [ "take the parts from the cabinet and place them on the table." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "cabinet", "level1": "furniture", "level2": "cabinet", "level3": null, "level4": null, "level5": null }, { "object_name": "parts", "level1": "mechanical_parts", "level2": "parts", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "leju_robot" ], "end_effector_type": "two_finger_gripper" } }, "R1_Lite_tableware_arrangement": { "dataset_name": "tableware_arrangement", "dataset_uuid": "85abe0d0-6c0a-432a-9dd0-14e2ca009399", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "chopsticks", "level1": "tableware", "level2": "chopsticks", "level3": null, "level4": null, "level5": null }, { "object_name": "spoon", "level1": "tableware", "level2": "spoon", "level3": null, "level4": null, "level5": null }, { "object_name": "bowl", "level1": "container", "level2": "bowl", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "lunch_box", "level1": "container", "level2": "lunch_box", "level3": null, "level4": null, "level5": null } ], "path": "R1_Lite_tableware_arrangement", "video_url": "./assets/videos/R1_Lite_tableware_arrangement.mp4", "thumbnail_url": "./assets/thumbnails/R1_Lite_tableware_arrangement.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "628.5MB", "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": "R1_Lite", "codebase_version": "v2.1", "statistics": { "total_episodes": 8, "total_frames": 16015, "total_tasks": 1, "total_videos": 24, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:7" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "put chopsticks spoons bowls into lunch boxes on plates.", "sub_tasks": [ "Put the chopsticks back from the plate", "Put the bowl back from the plate", "Put the spoon back from the bowl", "Pick the chopsticks and place it on the plate", "abnormal", "Pick the bowl and place it on the plate", "Pick the spoon and place it in the bowl", "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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "R1_Lite_tableware_arrangement_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "tableware_arrangement", "dataset_uuid": null, "task_descriptions": [ "put chopsticks spoons bowls on plates.Put away chopsticks, spoons, and bowls." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "chopsticks", "level1": "tableware", "level2": "chopsticks", "level3": null, "level4": null, "level5": null }, { "object_name": "spoon", "level1": "tableware", "level2": "spoon", "level3": null, "level4": null, "level5": null }, { "object_name": "bowl", "level1": "container", "level2": "bowl", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "lunch_box", "level1": "container", "level2": "lunch_box", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "galaxea_r1_lite" ], "end_effector_type": "two_finger_gripper" } }, "leju_robot_hotel_services_ad": { "dataset_name": "hotel_services_ad", "dataset_uuid": "1bbfd926-a183-40a4-8649-0b9958b0ffcf", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "five_finger_hand" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "card", "level1": "nfc", "level2": "card", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "sensor", "level1": "electronic_products", "level2": "sensor", "level3": null, "level4": null, "level5": null } ], "path": "leju_robot_hotel_services_ad", "video_url": "./assets/videos/leju_robot_hotel_services_ad.mp4", "thumbnail_url": "./assets/thumbnails/leju_robot_hotel_services_ad.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "4.7GB", "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": "leju_robot", "codebase_version": "v2.1", "statistics": { "total_episodes": 430, "total_frames": 73346, "total_tasks": 1, "total_videos": 1290, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:429" }, "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.camera_head_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_left_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_right_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "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": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] }, "action": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "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": "take out the card place it on the sensor for recognition and then transfer it.", "sub_tasks": [ "End", "Take out the room card with right gripper", "Hand the room card to the guest with right gripper", "Hand the room card to the target.", "Pick up the room card from the card holder.", "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.camera_head_rgb", "name": "camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_left_wrist_rgb", "name": "camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_right_wrist_rgb", "name": "camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] } }, "action_space": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "leju_robot_hotel_services_ad_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.camera_head_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.camera_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.camera_right_wrist_rgb/\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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "hotel_services_ad", "dataset_uuid": null, "task_descriptions": [ "pick room card from front box and give room card." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "card", "level1": "nfc", "level2": "card", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "sensor", "level1": "electronic_products", "level2": "sensor", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "leju_kuavo_4_pro" ], "end_effector_type": "five_finger_gripper" } }, "G1edu-u3_pick_metal_bowl_ab": { "dataset_name": "pick_metal_bowl_ab", "dataset_uuid": "988d81c9-a23a-4a67-9613-aed7fcecf7e3", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick" ], "end_effector_type": [ "three_finger_hand" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "metal_bowl", "level1": "container", "level2": "metal_bowl", "level3": null, "level4": null, "level5": null } ], "path": "G1edu-u3_pick_metal_bowl_ab", "video_url": "./assets/videos/G1edu-u3_pick_metal_bowl_ab.mp4", "thumbnail_url": "./assets/thumbnails/G1edu-u3_pick_metal_bowl_ab.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "158.4MB", "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": "G1edu-u3", "codebase_version": "v2.1", "statistics": { "total_episodes": 36, "total_frames": 11322, "total_tasks": 1, "total_videos": 36, "total_chunks": 1, "chunks_size": 37, "fps": 30 }, "splits": { "train": "0:35" }, "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.ego_view": { "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.state": { "dtype": "float32", "shape": [ 30 ], "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": [ 30 ], "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": "float64", "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": "Pick up the crumpled paper\nPick up the empty bottle\nPick up the leftover food\nPick up the metal bowl\nPick up the metal bowl\nPick up the plastic bowl\nPick up the plastic bowl\nPlace the metal bowl\nPlace the metal bowl\nPlace the plastic bowl\nPlace the plastic bowl", "sub_tasks": [ "Grasp the metal bowl and lift it to the center of the view with left gripper", "End", "Grasp the metal bowl and lift it to the center of the view with right 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.ego_view", "name": "ego_view", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.ego_view", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channel" ] } ], "state": { "dtype": "float32", "shape": [ 30 ], "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_space": { "dtype": "float32", "shape": [ 30 ], "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "G1edu-u3_pick_metal_bowl_ab_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.ego_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "pick_metal_bowl_ab", "dataset_uuid": null, "task_descriptions": [ "pick up the metal bowl on the table." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "metal_bowl", "level1": "container", "level2": "metal_bowl", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "unitree_g1" ], "end_effector_type": "three_finger_hand" } }, "AgiBot-g1_remove_the_accessory": { "dataset_name": "remove_the_accessory", "dataset_uuid": "fcba76dc-2672-4dc1-9b8e-b375ede64077", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "accessories", "level1": "industrial_parts", "level2": "accessories", "level3": null, "level4": null, "level5": null } ], "path": "AgiBot-g1_remove_the_accessory", "video_url": "./assets/videos/AgiBot-g1_remove_the_accessory.mp4", "thumbnail_url": "./assets/thumbnails/AgiBot-g1_remove_the_accessory.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "14.8GB", "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": "AgiBot-g1", "codebase_version": "v2.1", "statistics": { "total_episodes": 68, "total_frames": 27353, "total_tasks": 1, "total_videos": 544, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:67" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "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, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_back_left_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_back_right_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_center_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_left_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_right_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "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": [ 41 ], "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open", "robot_pos_x_m", "robot_pos_y_m", "robot_pos_z_m", "robot_quat_x", "robot_quat_y", "robot_quat_z", "robot_quat_w" ] }, "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", "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_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 }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "take the accessories out of the box and place them on the table.", "sub_tasks": [ "Place the hard drive bracket into the box.", "Pick up the hard drive bracket from the feeding area.", "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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_back_left_fisheye_rgb", "name": "cam_back_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_back_right_fisheye_rgb", "name": "cam_back_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_center_fisheye_rgb", "name": "cam_high_center_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_left_fisheye_rgb", "name": "cam_high_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_right_fisheye_rgb", "name": "cam_high_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_back_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_back_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_center_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 41 ], "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open", "robot_pos_x_m", "robot_pos_y_m", "robot_pos_z_m", "robot_quat_x", "robot_quat_y", "robot_quat_z", "robot_quat_w" ] } }, "action_space": { "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", "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "AgiBot-g1_remove_the_accessory_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_back_left_fisheye_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_back_right_fisheye_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_high_center_fisheye_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_high_left_fisheye_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_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_high_right_fisheye_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "remove_the_accessory_b", "dataset_uuid": null, "task_descriptions": [ "take the accessories out of the box and place them on the table." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "accessories", "level1": "industrial_parts", "level2": "accessories", "level3": null, "level4": null, "level5": null } ], "-operation_platform_height": null, "device_model": [ "tianqing_a2d" ], "end_effector_type": "two_finger_gripper" } }, "leju_robot_box_storage_parcel_g": { "dataset_name": "box_storage_parcel_g", "dataset_uuid": "1b130f08-2c4e-4724-ad03-8ecda43684fd", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "five_finger_hand" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "parcel", "level1": "container", "level2": "parcel", "level3": null, "level4": null, "level5": null }, { "object_name": "conveyor_belt", "level1": "tool", "level2": "conveyor_belt", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null } ], "path": "leju_robot_box_storage_parcel_g", "video_url": "./assets/videos/leju_robot_box_storage_parcel_g.mp4", "thumbnail_url": "./assets/thumbnails/leju_robot_box_storage_parcel_g.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "9.4GB", "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": "leju_robot", "codebase_version": "v2.1", "statistics": { "total_episodes": 492, "total_frames": 182793, "total_tasks": 1, "total_videos": 1476, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:491" }, "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.camera_head_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_left_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_right_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "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": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] }, "action": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "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": "moved the parcel from conveyor to table for the left to box.", "sub_tasks": [ "Place the package into the parcel locker.", "Pick up the package from the inbound machine.", "Pick up the package from the conveyor belt.", "Place the package onto the inbound machine.", "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.camera_head_rgb", "name": "camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_left_wrist_rgb", "name": "camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_right_wrist_rgb", "name": "camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] } }, "action_space": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "leju_robot_box_storage_parcel_g_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.camera_head_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.camera_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.camera_right_wrist_rgb/\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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "box_storage_parcel_g", "dataset_uuid": null, "task_descriptions": [ "move the parcel with right hand from conveyor to table and then move the parcel to the left box with left hand." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "parcel", "level1": "container", "level2": "parcel", "level3": null, "level4": null, "level5": null }, { "object_name": "conveyor_belt", "level1": "tool", "level2": "conveyor_belt", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "leju_kuavo_4_pro" ], "end_effector_type": "five_finger_gripper" } }, "AIRBOT_MMK2_place_the_small_bowl_of_canned_food": { "dataset_name": "place_the_small_bowl_of_canned_food", "dataset_uuid": "a9c7e711-c375-4aa9-8ce2-93c6f016b80d", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "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": "mini_table", "level1": "furniture", "level2": "mini_table", "level3": null, "level4": null, "level5": null }, { "object_name": "small_bowl_of_canned_food", "level1": "food", "level2": "small_bowl_of_canned_food", "level3": null, "level4": null, "level5": null } ], "path": "AIRBOT_MMK2_place_the_small_bowl_of_canned_food", "video_url": "./assets/videos/AIRBOT_MMK2_place_the_small_bowl_of_canned_food.mp4", "thumbnail_url": "./assets/thumbnails/AIRBOT_MMK2_place_the_small_bowl_of_canned_food.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "1K-10K", "dataset_size": "313.5MB", "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": 50, "total_frames": 7610, "total_tasks": 1, "total_videos": 200, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:49" }, "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": "The hand picked up the mini bowl of canned food from the table and placed it on the mini table.", "sub_tasks": [ "End", "Abnormal", "Place the small bowl of canned food on the table with the right gripper", "Grasp the small bowl of canned food with right 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_place_the_small_bowl_of_canned_food_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "place_the_small_bowl_of_canned_food", "dataset_uuid": null, "task_descriptions": [ "the right hand picked up the mini bowl of canned food from the table and placed it on the mini table." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "mini_table", "level1": "furniture", "level2": "mini_table", "level3": null, "level4": null, "level5": null }, { "object_name": "small_bowl_of_canned_food", "level1": "food", "level2": "small_bowl_of_canned_food", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "airbot mmk2" ], "end_effector_type": "five_finger_hand" } }, "G1edu-u3_pullBowl_storage_bread_unordered_a": { "dataset_name": "pullBowl_storage_bread_unordered_a", "dataset_uuid": "11ed8a7f-106a-4c08-98a4-0abdd1b97a49", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "five_finger_hand", "three_finger_hand" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "towel", "level1": "clothing", "level2": "towel", "level3": null, "level4": null, "level5": null } ], "path": "G1edu-u3_pullBowl_storage_bread_unordered_a", "video_url": "./assets/videos/G1edu-u3_pullBowl_storage_bread_unordered_a.mp4", "thumbnail_url": "./assets/thumbnails/G1edu-u3_pullBowl_storage_bread_unordered_a.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "3.3GB", "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": "G1edu-u3", "codebase_version": "v2.1", "statistics": { "total_episodes": 188, "total_frames": 158699, "total_tasks": 1, "total_videos": 564, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:187" }, "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.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_left_high": { "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 }, "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": "Push the bowl into the center of the table and put the bread into the bowl.", "sub_tasks": [ "Abnormal", "Place the long bread in pink bowl with left hand", "End", "Grasp the round bread with left hand", "Grasp the long bread with left hand", "Place the round bread in pink bowl with left hand", "Move the pink bowl to the center of table with right hand", "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_left_high", "name": "cam_left_high", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist", "name": "cam_left_wrist", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist", "name": "cam_right_wrist", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_left_high", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channel" ] }, { "key": "observation.images.cam_left_wrist", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channel" ] }, { "key": "observation.images.cam_right_wrist", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channel" ] } ], "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_space": { "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "G1edu-u3_pullBowl_storage_bread_unordered_a_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_left_high/\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/\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/\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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "pullBowl_storage_bread_unordered_a", "dataset_uuid": null, "task_descriptions": [ "the left hand pick up the towel on the left side of the plate and placed it in the plate.", "the right hand pick up the towel on the right side of the plate and placed it in the plate." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "towel", "level1": "clothing", "level2": "towel", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "unitree_g1" ], "end_effector_type": [ "five_finger_hand", "three_finger_hand" ] } }, "G1edu-u3_pick_crumpled_paper_aa": { "dataset_name": "pick_crumpled_paper_aa", "dataset_uuid": "b6576ff7-68ba-498d-a50c-c97bad67554e", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick" ], "end_effector_type": [ "three_finger_hand" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "paper", "level1": "rubbish", "level2": "paper", "level3": null, "level4": null, "level5": null } ], "path": "G1edu-u3_pick_crumpled_paper_aa", "video_url": "./assets/videos/G1edu-u3_pick_crumpled_paper_aa.mp4", "thumbnail_url": "./assets/thumbnails/G1edu-u3_pick_crumpled_paper_aa.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "1K-10K", "dataset_size": "58.9MB", "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": "G1edu-u3", "codebase_version": "v2.1", "statistics": { "total_episodes": 13, "total_frames": 4485, "total_tasks": 1, "total_videos": 13, "total_chunks": 1, "chunks_size": 13, "fps": 30 }, "splits": { "train": "0:12" }, "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.ego_view": { "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.state": { "dtype": "float32", "shape": [ 30 ], "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": [ 30 ], "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": "float64", "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": "Pick up the crumpled paper\nPick up the empty bottle\nPick up the leftover food\nPick up the metal bowl\nPick up the metal bowl\nPick up the plastic bowl\nPick up the plastic bowl\nPlace the metal bowl\nPlace the metal bowl\nPlace the plastic bowl\nPlace the plastic bowl", "sub_tasks": [ "End", "Grasp the paper ball and lift it to the center of the view with right gripper  ", "Grasp the paper ball and lift it to the center of the view with left gripper ", "Abnormal", "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.ego_view", "name": "ego_view", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.ego_view", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channel" ] } ], "state": { "dtype": "float32", "shape": [ 30 ], "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_space": { "dtype": "float32", "shape": [ 30 ], "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "G1edu-u3_pick_crumpled_paper_aa_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.ego_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "pick_crumpled_paper_aa", "dataset_uuid": null, "task_descriptions": [ "pick up the crumpled paper on the table." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "paper", "level1": "rubbish", "level2": "paper", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "unitree_g1" ], "end_effector_type": "three_finger_hand" } }, "Cobot_Magic_plate_storage_toy": { "dataset_name": "plate_storage_toy", "dataset_uuid": "d0236789-960c-4b47-8ac2-4e1ecb7fc5d4", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "small_cube", "level1": "toy", "level2": "small_cube", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null } ], "path": "Cobot_Magic_plate_storage_toy", "video_url": "./assets/videos/Cobot_Magic_plate_storage_toy.mp4", "thumbnail_url": "./assets/thumbnails/Cobot_Magic_plate_storage_toy.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "1.1GB", "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": "Cobot_Magic", "codebase_version": "v2.1", "statistics": { "total_episodes": 171, "total_frames": 53827, "total_tasks": 1, "total_videos": 513, "total_chunks": 1, "chunks_size": 1000, "fps": 50 }, "splits": { "train": "0:170" }, "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": 50, "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": 50, "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": 50, "video.channels": 3, "has_audio": false } }, "observation.state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "grasp the small cube and place it into the yellow plate.", "sub_tasks": [ "Anomaly", "End", "Pour water into the teacup", "Pour water into the cup", "Place it into the yellow plate", "Place the water bottle", "Grasp the mineral water bottle", "Grasp the small cube on the table", "Pick up the water bottle", "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": 50, "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": 50, "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": 50, "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" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Cobot_Magic_plate_storage_toy_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "plate_storage_toy", "dataset_uuid": null, "task_descriptions": [ "grasp the small cube and place it into the yellow plate." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "small_cube", "level1": "toy", "level2": "small_cube", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "agilex_cobot_magic_aloha" ], "end_effector_type": "two_finger_gripper" } }, "alpha_bot_2_item_reversal": { "dataset_name": "item_reversal", "dataset_uuid": "aac569d8-dbc7-4128-a573-659adbe0ed51", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "cup", "level1": "container", "level2": "cup", "level3": null, "level4": null, "level5": null } ], "path": "alpha_bot_2_item_reversal", "video_url": "./assets/videos/alpha_bot_2_item_reversal.mp4", "thumbnail_url": "./assets/thumbnails/alpha_bot_2_item_reversal.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "2.1GB", "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": "alpha_bot_2", "codebase_version": "v2.1", "statistics": { "total_episodes": 90, "total_frames": 82235, "total_tasks": 1, "total_videos": 360, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:89" }, "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_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_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": [ 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", "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" ] }, "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", "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" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "On the white table pick up the cup with one hand and transfer it to the other hand before turning it over.", "sub_tasks": [ "Grasp the cup with left gripper", "Place the cup on the table with right gripper", "Pass the cup to the right gripper", "End", "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_chest_rgb", "name": "cam_chest_rgb", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_head_rgb", "name": "cam_head_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 } ], "observation_space": { "images": [ { "key": "observation.images.cam_chest_rgb", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_head_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" ] } ], "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", "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" ] } }, "action_space": { "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", "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "alpha_bot_2_item_reversal_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_chest_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_head_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "item_reversal", "dataset_uuid": null, "task_descriptions": [ "on the white table pick up the cup wit your left hand and hand it to your right hand then turn it over." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "cup", "level1": "container", "level2": "cup", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "ai² aiphabot 2" ], "end_effector_type": "two_finger_gripper" } }, "Cobot_Magic_steamer_storage_dumpling": { "dataset_name": "steamer_storage_dumpling", "dataset_uuid": "df5bb1ee-1fd7-4b3d-8502-4cda9ee6bbc5", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "dumplings", "level1": "food", "level2": "dumplings", "level3": null, "level4": null, "level5": null }, { "object_name": "tablecloth", "level1": "clothing", "level2": "tablecloth", "level3": null, "level4": null, "level5": null }, { "object_name": "steamer", "level1": "container", "level2": "steamer", "level3": null, "level4": null, "level5": null } ], "path": "Cobot_Magic_steamer_storage_dumpling", "video_url": "./assets/videos/Cobot_Magic_steamer_storage_dumpling.mp4", "thumbnail_url": "./assets/thumbnails/Cobot_Magic_steamer_storage_dumpling.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "19.8GB", "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": "Cobot_Magic", "codebase_version": "v2.1", "statistics": { "total_episodes": 580, "total_frames": 417589, "total_tasks": 6, "total_videos": 1740, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:579" }, "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_front_rgb": { "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "put the dumplings into the steamer on the table with the blue tablecloth.\nput the dumplings into the steamer on the table with the brown tablecloth.\nput the dumplings into the steamer on the table with the grey tablecloth.\nput the dumplings into the steamer on the table with the pink tablecloth.\nput the dumplings into the steamer on the white table.\nput the dumplings into the steamer on the table with the white tablecloth.", "sub_tasks": [ "use the left arm to put the dumpling into the steamer", "Abnormal", "use the right arm to put the dumpling into the steamer", "Grasp the dumpling with left gripper", "End", "Place the dumpling on the steamer with right gripper", "use the left arm to grab a dumpling", "Grasp the dumpling with right gripper", "use the right arm to grab a dumpling", "Place the dumpling on the steamer with 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_front_rgb", "name": "cam_front_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_front_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Cobot_Magic_steamer_storage_dumpling_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_front_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "steamer_storage_dumpling", "dataset_uuid": null, "task_descriptions": [ "put the dumplings into the steamer on the table with the blue tablecloth.", "put the dumplings into the steamer on the table with the brown tablecloth.", "put the dumplings into the steamer on the table with the grey tablecloth.", "put the dumplings into the steamer on the table with the pink tablecloth.", "put the dumplings into the steamer on the white table.", "put the dumplings into the steamer on the table with the white tablecloth." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "dumplings", "level1": "food", "level2": "dumplings", "level3": null, "level4": null, "level5": null }, { "object_name": "tablecloth", "level1": "clothing", "level2": "tablecloth", "level3": null, "level4": null, "level5": null }, { "object_name": "steamer", "level1": "container", "level2": "steamer", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "agilex_cobot_decoupled_magic" ], "end_effector_type": "two_finger_gripper" } }, "Cobot_Magic_plate_storaje_baozi": { "dataset_name": "plate_storaje_baozi", "dataset_uuid": "749fc774-003a-487c-948b-b6fc7ad307e1", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "tablecloth", "level1": "clothing", "level2": "tablecloth", "level3": null, "level4": null, "level5": null }, { "object_name": "baozi", "level1": "food", "level2": "baozi", "level3": null, "level4": null, "level5": null }, { "object_name": "steamer", "level1": "container", "level2": "steamer", "level3": null, "level4": null, "level5": null } ], "path": "Cobot_Magic_plate_storaje_baozi", "video_url": "./assets/videos/Cobot_Magic_plate_storaje_baozi.mp4", "thumbnail_url": "./assets/thumbnails/Cobot_Magic_plate_storaje_baozi.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "12.3GB", "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": "Cobot_Magic", "codebase_version": "v2.1", "statistics": { "total_episodes": 495, "total_frames": 261093, "total_tasks": 6, "total_videos": 1485, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:494" }, "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_front_rgb": { "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "put the steamed buns into the plate on the blue tablecloth.\nput the steamed buns into the plate on the green tablecloth.\nput the steamed buns into the plate on the grey tablecloth.\nput the steamed buns into the plate on the pink tablecloth.\nput the steamed buns into the plate on the white-black tablecloth.\nput the steamed buns into the plate on the white tablecloth.", "sub_tasks": [ "Grasp the baozi on the steamer with left gripper", "Abnormal", "Place the yellow baozi on the plate with left gripper", "Place the yellow baozi on the plate with right gripper", "End", "Grasp the dumpling with left gripper", "use the left arm to grab the steamed stuffed bun that is closest to it", "use the right arm to grab the steamed stuffed bun that is closest to it", "use the right arm to put the steamed stuffed bun into the plate", "Place the baozi on the plate with left gripper", "Grasp the yellow baozi on the steamer with left gripper", "use the left arm to put the steamed stuffed bun into the plate", "Place the dumpling on the steamer with right gripper", "Grasp the dumpling with right gripper", "Grasp the yellow baozi on the steamer with right gripper", "Place the dumpling on the steamer with 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_front_rgb", "name": "cam_front_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_front_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Cobot_Magic_plate_storaje_baozi_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_front_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "plate_storaje_baozi", "dataset_uuid": null, "task_descriptions": [ "put the steamed buns into the plate on the blue tablecloth.", "put the steamed buns into the plate on the green tablecloth.", "put the steamed buns into the plate on the grey tablecloth.", "put the steamed buns into the plate on the pink tablecloth.", "put the steamed buns into the plate on the white tablecloth.", "put the steamed buns into the plate on the white-black tablecloth." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "tablecloth", "level1": "clothing", "level2": "tablecloth", "level3": null, "level4": null, "level5": null }, { "object_name": "baozi", "level1": "food", "level2": "baozi", "level3": null, "level4": null, "level5": null }, { "object_name": "steamer", "level1": "container", "level2": "steamer", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "agilex_cobot_decoupled_magic" ], "end_effector_type": "two_finger_gripper" } }, "R1_Lite_move_the_position_of_the_milk": { "dataset_name": "move_the_position_of_the_milk", "dataset_uuid": "945013f7-9a63-4c59-af10-4ad4df23d67f", "scene_type": [ "home" ], "atomic_actions": [ "place", "pick", "grasp" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "pen", "level1": "office_supplies", "level2": "pen", "level3": null, "level4": null, "level5": null }, { "object_name": "banana", "level1": "fruit", "level2": "banana", "level3": null, "level4": null, "level5": null }, { "object_name": "bath_ball", "level1": "daily_necessities", "level2": "bath_ball", "level3": null, "level4": null, "level5": null }, { "object_name": "bowl", "level1": "container", "level2": "bowl", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "can", "level1": "container", "level2": "can", "level3": null, "level4": null, "level5": null }, { "object_name": "eraser", "level1": "office_supplies", "level2": "eraser", "level3": null, "level4": null, "level5": null }, { "object_name": "hard_cleanser", "level1": "daily_necessities", "level2": "hard_cleanser", "level3": null, "level4": null, "level5": null }, { "object_name": "long_bread", "level1": "food", "level2": "long_bread", "level3": null, "level4": null, "level5": null }, { "object_name": "peeler", "level1": "tool", "level2": "peeler", "level3": null, "level4": null, "level5": null }, { "object_name": "block", "level1": "toy", "level2": "block", "level3": null, "level4": null, "level5": null }, { "object_name": "duck", "level1": "toy", "level2": "duck", "level3": null, "level4": null, "level5": null }, { "object_name": "soap", "level1": "daily_necessities", "level2": "soap", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "basket", "level1": "container", "level2": "basket", "level3": null, "level4": null, "level5": null }, { "object_name": "cola", "level1": "drink", "level2": "cola", "level3": null, "level4": null, "level5": null }, { "object_name": "detergent", "level1": "daily_necessities", "level2": "detergent", "level3": null, "level4": null, "level5": null }, { "object_name": "egg_beater", "level1": "electrical_appliances", "level2": "egg_beater", "level3": null, "level4": null, "level5": null }, { "object_name": "towel", "level1": "clothing", "level2": "towel", "level3": null, "level4": null, "level5": null }, { "object_name": "orange", "level1": "fruit", "level2": "orange", "level3": null, "level4": null, "level5": null }, { "object_name": "peach", "level1": "fruit", "level2": "peach", "level3": null, "level4": null, "level5": null }, { "object_name": "marker", "level1": "office_supplies", "level2": "marker", "level3": null, "level4": null, "level5": null }, { "object_name": "rubiks_cube", "level1": "toy", "level2": "rubiks_cube", "level3": null, "level4": null, "level5": null }, { "object_name": "bread_slice", "level1": "food", "level2": "bread_slice", "level3": null, "level4": null, "level5": null }, { "object_name": "brush", "level1": "daily_necessities", "level2": "brush", "level3": null, "level4": null, "level5": null }, { "object_name": "yogurt", "level1": "drink", "level2": "yogurt", "level3": null, "level4": null, "level5": null }, { "object_name": "power_strip", "level1": "electric_appliance", "level2": "power_strip", "level3": null, "level4": null, "level5": null }, { "object_name": "milk", "level1": "drink", "level2": "milk", "level3": null, "level4": null, "level5": null }, { "object_name": "soda", "level1": "drink", "level2": "soda", "level3": null, "level4": null, "level5": null }, { "object_name": "lime", "level1": "fruit", "level2": "lime", "level3": null, "level4": null, "level5": null }, { "object_name": "coffee_capsule", "level1": "drink", "level2": "coffee_capsule", "level3": null, "level4": null, "level5": null }, { "object_name": "dish", "level1": "container", "level2": "dish", "level3": null, "level4": null, "level5": null }, { "object_name": "glass", "level1": "furniture", "level2": "glass", "level3": null, "level4": null, "level5": null }, { "object_name": "egg_yolk_pastry", "level1": "food", "level2": "egg_yolk_pastry", "level3": null, "level4": null, "level5": null }, { "object_name": "glasses_case", "level1": "daily_necessities", "level2": "glasses_case", "level3": null, "level4": null, "level5": null }, { "object_name": "gum", "level1": "daily_necessities", "level2": "gum", "level3": null, "level4": null, "level5": null }, { "object_name": "tape", "level1": "daily_necessities", "level2": "tape", "level3": null, "level4": null, "level5": null }, { "object_name": "soft_cleanser", "level1": "daily_necessities", "level2": "soft_cleanser", "level3": null, "level4": null, "level5": null }, { "object_name": "chips", "level1": "food", "level2": "chips", "level3": null, "level4": null, "level5": null }, { "object_name": "chocolate", "level1": "food", "level2": "chocolate", "level3": null, "level4": null, "level5": null }, { "object_name": "cookie", "level1": "food", "level2": "cookie", "level3": null, "level4": null, "level5": null }, { "object_name": "spoon", "level1": "tableware", "level2": "spoon", "level3": null, "level4": null, "level5": null } ], "path": "R1_Lite_move_the_position_of_the_milk", "video_url": "./assets/videos/R1_Lite_move_the_position_of_the_milk.mp4", "thumbnail_url": "./assets/thumbnails/R1_Lite_move_the_position_of_the_milk.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "421.8MB", "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": "R1_Lite", "codebase_version": "v2.1", "statistics": { "total_episodes": 59, "total_frames": 12898, "total_tasks": 1, "total_videos": 236, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:58" }, "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_left_rgb": { "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_right_rgb": { "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 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" ] }, "action": { "dtype": "float32", "shape": [ 18 ], "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 }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "put the milk the designated position.", "sub_tasks": [ "Grasp the wangzai milk with left gripper", "Place the wangzai milk on the table with right gripper", "Static", "Place the wangzai milk on the table with left gripper", "Grasp the wangzai milk with right gripper", "End", "Abnormal", "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_left_rgb", "name": "cam_high_left_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_right_rgb", "name": "cam_high_right_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_left_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_right_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "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" ] } }, "action_space": { "dtype": "float32", "shape": [ 18 ], "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "R1_Lite_move_the_position_of_the_milk_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_left_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_high_right_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "move_the_position_of_the_milk", "dataset_uuid": null, "task_descriptions": [ "put the milk the designated position." ], "scene_type": [ "home" ], "atomic_actions": [ "place", "pick", "grasp" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "pen", "level1": "office_supplies", "level2": "pen", "level3": null, "level4": null, "level5": null }, { "object_name": "banana", "level1": "fruit", "level2": "banana", "level3": null, "level4": null, "level5": null }, { "object_name": "bath_ball", "level1": "daily_necessities", "level2": "bath_ball", "level3": null, "level4": null, "level5": null }, { "object_name": "bowl", "level1": "container", "level2": "bowl", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "can", "level1": "container", "level2": "can", "level3": null, "level4": null, "level5": null }, { "object_name": "eraser", "level1": "office_supplies", "level2": "eraser", "level3": null, "level4": null, "level5": null }, { "object_name": "hard_cleanser", "level1": "daily_necessities", "level2": "hard_cleanser", "level3": null, "level4": null, "level5": null }, { "object_name": "long_bread", "level1": "food", "level2": "long_bread", "level3": null, "level4": null, "level5": null }, { "object_name": "peeler", "level1": "tool", "level2": "peeler", "level3": null, "level4": null, "level5": null }, { "object_name": "block", "level1": "toy", "level2": "block", "level3": null, "level4": null, "level5": null }, { "object_name": "duck", "level1": "toy", "level2": "duck", "level3": null, "level4": null, "level5": null }, { "object_name": "soap", "level1": "daily_necessities", "level2": "soap", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "basket", "level1": "container", "level2": "basket", "level3": null, "level4": null, "level5": null }, { "object_name": "cola", "level1": "drink", "level2": "cola", "level3": null, "level4": null, "level5": null }, { "object_name": "detergent", "level1": "daily_necessities", "level2": "detergent", "level3": null, "level4": null, "level5": null }, { "object_name": "egg_beater", "level1": "electrical_appliances", "level2": "egg_beater", "level3": null, "level4": null, "level5": null }, { "object_name": "towel", "level1": "clothing", "level2": "towel", "level3": null, "level4": null, "level5": null }, { "object_name": "orange", "level1": "fruit", "level2": "orange", "level3": null, "level4": null, "level5": null }, { "object_name": "peach", "level1": "fruit", "level2": "peach", "level3": null, "level4": null, "level5": null }, { "object_name": "marker", "level1": "office_supplies", "level2": "marker", "level3": null, "level4": null, "level5": null }, { "object_name": "rubiks_cube", "level1": "toy", "level2": "rubiks_cube", "level3": null, "level4": null, "level5": null }, { "object_name": "bread_slice", "level1": "food", "level2": "bread_slice", "level3": null, "level4": null, "level5": null }, { "object_name": "brush", "level1": "daily_necessities", "level2": "brush", "level3": null, "level4": null, "level5": null }, { "object_name": "yogurt", "level1": "drink", "level2": "yogurt", "level3": null, "level4": null, "level5": null }, { "object_name": "power_strip", "level1": "electric_appliance", "level2": "power_strip", "level3": null, "level4": null, "level5": null }, { "object_name": "milk", "level1": "drink", "level2": "milk", "level3": null, "level4": null, "level5": null }, { "object_name": "soda", "level1": "drink", "level2": "soda", "level3": null, "level4": null, "level5": null }, { "object_name": "lime", "level1": "fruit", "level2": "lime", "level3": null, "level4": null, "level5": null }, { "object_name": "coffee_capsule", "level1": "drink", "level2": "coffee_capsule", "level3": null, "level4": null, "level5": null }, { "object_name": "dish", "level1": "container", "level2": "dish", "level3": null, "level4": null, "level5": null }, { "object_name": "glass", "level1": "furniture", "level2": "glass", "level3": null, "level4": null, "level5": null }, { "object_name": "egg_yolk_pastry", "level1": "food", "level2": "egg_yolk_pastry", "level3": null, "level4": null, "level5": null }, { "object_name": "glasses_case", "level1": "daily_necessities", "level2": "glasses_case", "level3": null, "level4": null, "level5": null }, { "object_name": "gum", "level1": "daily_necessities", "level2": "gum", "level3": null, "level4": null, "level5": null }, { "object_name": "tape", "level1": "daily_necessities", "level2": "tape", "level3": null, "level4": null, "level5": null }, { "object_name": "soft_cleanser", "level1": "daily_necessities", "level2": "soft_cleanser", "level3": null, "level4": null, "level5": null }, { "object_name": "chips", "level1": "food", "level2": "chips", "level3": null, "level4": null, "level5": null }, { "object_name": "chocolate", "level1": "food", "level2": "chocolate", "level3": null, "level4": null, "level5": null }, { "object_name": "cookie", "level1": "food", "level2": "cookie", "level3": null, "level4": null, "level5": null }, { "object_name": "spoon", "level1": "tableware", "level2": "spoon", "level3": null, "level4": null, "level5": null } ], "device_model": [ "galaxea_r1_lite" ], "end_effector_type": "two_finger_gripper", "operation_platform_height": 77.2 } }, "R1_Lite_place_the_dress_shirt_on_the_hanger": { "dataset_name": "place_the_dress_shirt_on_the_hanger", "dataset_uuid": "99bbe00a-c986-419f-b64a-51eef829a3b8", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "hanger", "level1": "furniture", "level2": "hanger", "level3": null, "level4": null, "level5": null }, { "object_name": "shirt", "level1": "clothing", "level2": "shirt", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "bed", "level1": "furniture", "level2": "bed", "level3": null, "level4": null, "level5": null } ], "path": "R1_Lite_place_the_dress_shirt_on_the_hanger", "video_url": "./assets/videos/R1_Lite_place_the_dress_shirt_on_the_hanger.mp4", "thumbnail_url": "./assets/thumbnails/R1_Lite_place_the_dress_shirt_on_the_hanger.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "7.1GB", "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": "R1_Lite", "codebase_version": "v2.1", "statistics": { "total_episodes": 103, "total_frames": 120516, "total_tasks": 1, "total_videos": 309, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:102" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "hang shirt on hanger then take hanger out and put on bed.", "sub_tasks": [ "abnormal", "Hook the other side of the shirt onto the hanger", "Hook one side of the shirt onto the hanger", "Lift the shirt and hanger", "Take the clothes hanger out of the clothes", "Place the hanger on the bed", "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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "R1_Lite_place_the_dress_shirt_on_the_hanger_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "hang_up_and_put_down_your_clothes", "dataset_uuid": null, "task_descriptions": [ "hang shirt on hanger then take hanger out and put on bed." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "hanger", "level1": "furniture", "level2": "hanger", "level3": null, "level4": null, "level5": null }, { "object_name": "shirt", "level1": "clothing", "level2": "shirt", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "bed", "level1": "furniture", "level2": "bed", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "galaxea_r1_lite" ], "end_effector_type": "two_finger_gripper" } }, "R1_Lite_take_and_put_away_garden_stuff_a": { "dataset_name": "take_and_put_away_garden_stuff_a", "dataset_uuid": "7c763184-bc85-4d7e-b01b-85ba85cbb6f2", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place", "pull", "push" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "refrigerator", "level1": "furniture", "level2": "refrigerator", "level3": null, "level4": null, "level5": null }, { "object_name": "drawer", "level1": "container", "level2": "drawer", "level3": null, "level4": null, "level5": null }, { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "tray", "level1": "container", "level2": "tray", "level3": null, "level4": null, "level5": null }, { "object_name": "potato", "level1": "food", "level2": "potato", "level3": null, "level4": null, "level5": null }, { "object_name": "green_pepper", "level1": "food", "level2": "green_pepper", "level3": null, "level4": null, "level5": null }, { "object_name": "pumpkin", "level1": "food", "level2": "pumpkin", "level3": null, "level4": null, "level5": null }, { "object_name": "apple", "level1": "food", "level2": "apple", "level3": null, "level4": null, "level5": null }, { "object_name": "orange", "level1": "food", "level2": "orange", "level3": null, "level4": null, "level5": null } ], "path": "R1_Lite_take_and_put_away_garden_stuff_a", "video_url": "./assets/videos/R1_Lite_take_and_put_away_garden_stuff_a.mp4", "thumbnail_url": "./assets/thumbnails/R1_Lite_take_and_put_away_garden_stuff_a.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "15.9GB", "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": "R1_Lite", "codebase_version": "v2.1", "statistics": { "total_episodes": 148, "total_frames": 355644, "total_tasks": 1, "total_videos": 444, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:147" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "put garden stuff in fridge drawer then take out to table.", "sub_tasks": [ "Grasp the apple and place it on the table with right gripper", "Place the green bell pepper in the lower drawer with right gripper", "Put green pepper in the refrigerator drawer", "Place the orange in the lower drawer with right gripper", "Place the potato in the lower drawer with left gripper", "Take out the potato and place it on the table", "Open the refrigerator door with left gripper", "Place the potato in the lower drawer with right gripper", "Take out the apple and place it on the tray", "Open the refrigerator door", "End", "Close the refrigerator door", "Close the lower drawer with the left gripper", "Grasp the potato and place it on the table with left gripper", "Open the lower refrigerator drawer", "Close the middle refrigerator door with the right gripper", "Place the apple in the lower drawer with right gripper", "Put orange in the refrigerator drawer", "Abnormal", "Put pumpkin in the refrigerator drawer", "Grasp the potato and place it on the table with right gripper", "Close the lower refrigerator drawer", "Place the green bell pepper in the lower drawer with left gripper", "Put apple in the refrigerator drawer", "Take out the pumpkin and place it on the table", "Close the lower drawer with the right gripper", "Grasp the orange and place it on the table with right gripper", "Put potato in the refrigerator drawer", "Take out the green pepper and place it on the table", "Take out the orange and place it on the tray", "Grasp the green bell pepper and place it on the table with right gripper", "Take out the apple and place it on the table", "Open the lower drawer with the right 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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "R1_Lite_take_and_put_away_garden_stuff_a_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "Removing_and_storing_items_from_the_refrigerator", "dataset_uuid": null, "task_descriptions": [ "Put the things on the table in the refrigerator drawer, then take them out and place them on the table." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place", "pull", "push" ], "objects": [ { "object_name": "refrigerator", "level1": "furniture", "level2": "refrigerator", "level3": null, "level4": null, "level5": null }, { "object_name": "drawer", "level1": "container", "level2": "drawer", "level3": null, "level4": null, "level5": null }, { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "tray", "level1": "container", "level2": "tray", "level3": null, "level4": null, "level5": null }, { "object_name": "potato", "level1": "food", "level2": "potato", "level3": null, "level4": null, "level5": null }, { "object_name": "green_pepper", "level1": "food", "level2": "green_pepper", "level3": null, "level4": null, "level5": null }, { "object_name": "pumpkin", "level1": "food", "level2": "pumpkin", "level3": null, "level4": null, "level5": null }, { "object_name": "apple", "level1": "food", "level2": "apple", "level3": null, "level4": null, "level5": null }, { "object_name": "orange", "level1": "food", "level2": "orange", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "galaxea_r1_lite" ], "end_effector_type": "two_finger_gripper" } }, "Cobot_Magic_clean_up_the_tableware": { "dataset_name": "clean_up_the_tableware", "dataset_uuid": "ad865471-39ce-4343-92f4-8dcc8ed48830", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "bowl", "level1": "container", "level2": "bowl", "level3": null, "level4": null, "level5": null }, { "object_name": "tablecloth", "level1": "clothing", "level2": "tablecloth", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "cup", "level1": "container", "level2": "cup", "level3": null, "level4": null, "level5": null }, { "object_name": "spoon", "level1": "tableware", "level2": "spoon", "level3": null, "level4": null, "level5": null } ], "path": "Cobot_Magic_clean_up_the_tableware", "video_url": "./assets/videos/Cobot_Magic_clean_up_the_tableware.mp4", "thumbnail_url": "./assets/thumbnails/Cobot_Magic_clean_up_the_tableware.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "1.0GB", "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": "Cobot_Magic", "codebase_version": "v2.1", "statistics": { "total_episodes": 33, "total_frames": 18127, "total_tasks": 1, "total_videos": 99, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:32" }, "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_front_rgb": { "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "place the bowls on the plates on the blue tablecloth, put the cups on the bowls, and place the spoons in the cups.", "sub_tasks": [ "use the left arm to grab a blue teacup", "Grasp the bowl with the left gripper", "use the right arm to grab a blue rice bowl", "Place the bowl on the plate with the left gripper", "use the left arm to put the blue soup spoon into the blue teacup in the middle", "Grasp the spoon with the left gripper", "Place the spoon on the cup with the left gripper", "use the right arm to put the blue soup spoon on the blue large plate in the middle", "use the left arm to put the blue teacup into the blue rice bowl in the middle", "Grasp the cup with the left gripper", "use the right arm to put the blue soup spoon into the blue teacup in the middle", "use the right arm to put the blue teacup into the blue rice bowl in the middle", "use the left arm to grab a blue rice bowl", "use the right arm to grab a blue teacup", "Place the spoon on the cup with the right gripper", "use the right arm to put the blue rice bowl into the blue large plate in the middle", "abnormal", "Grasp the cup with the right gripper", "use the right arm to grab a blue soup spoon", "Grasp the bowl with the right gripper", "Grasp the spoon with the right gripper", "Place the cup on the bowl with the right gripper", "Place the cup on the bowl with the left gripper", "use the left arm to grab a blue soup spoon", "End", "Place the bowl on the plate with the right gripper", "use the left arm to put the blue rice bowl into the blue large plate in the middle", "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_front_rgb", "name": "cam_front_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_front_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Cobot_Magic_clean_up_the_tableware_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_front_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "clean_up_the_tableware", "dataset_uuid": null, "task_descriptions": [ "place bowls on plates on blue tablecloth put cups on bowls spoons in cups.", "place bowls on plates on brown tablecloth put cups on bowls spoons in cups.", "place bowls on plates on green tablecloth put cups on bowls spoons in cups.", "place bowls on plates on grey tablecloth put cups on bowls spoons in cups.", "place bowls on plates on white table put cups on bowls spoons in cups.", "place bowls on plates on white tablecloth put cups on bowls spoons in cups." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "bowl", "level1": "container", "level2": "bowl", "level3": null, "level4": null, "level5": null }, { "object_name": "tablecloth", "level1": "clothing", "level2": "tablecloth", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "cup", "level1": "container", "level2": "cup", "level3": null, "level4": null, "level5": null }, { "object_name": "spoon", "level1": "tableware", "level2": "spoon", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "agilex_cobot_magic_aloha" ], "end_effector_type": "two_finger_gripper" } }, "G1edu-u3_pick_up_the_bread_az": { "dataset_name": "pick_up_the_bread_az", "dataset_uuid": "95b46832-04a8-4073-b033-dbe0d38fe742", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick" ], "end_effector_type": [ "three_finger_hand" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "bread", "level1": "food", "level2": "bread", "level3": null, "level4": null, "level5": null } ], "path": "G1edu-u3_pick_up_the_bread_az", "video_url": "./assets/videos/G1edu-u3_pick_up_the_bread_az.mp4", "thumbnail_url": "./assets/thumbnails/G1edu-u3_pick_up_the_bread_az.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "169.7MB", "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": "G1edu-u3", "codebase_version": "v2.1", "statistics": { "total_episodes": 26, "total_frames": 14542, "total_tasks": 1, "total_videos": 26, "total_chunks": 1, "chunks_size": 27, "fps": 30 }, "splits": { "train": "0:25" }, "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.ego_view": { "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.state": { "dtype": "float32", "shape": [ 30 ], "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": [ 30 ], "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": "float64", "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": "Pick up the water bottle\nPick up the bread\nPick up the pink cup\nPick up the lemmon\nPick up the tissue box\nPick up the toy bear\nPlace the water bottle\nPlace the bread\nPlace the pink cup\nPlace the lemon\nPlace the lemon on the orange round plate\nPlace the tissue box\nPlace the toy bear", "sub_tasks": [ "End", "Grasp the long bread and lift it to the center of the view with left gripper", "Grasp the long bread and lift it to the center of the view with right gripper", "Abnormal", "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.ego_view", "name": "ego_view", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.ego_view", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channel" ] } ], "state": { "dtype": "float32", "shape": [ 30 ], "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_space": { "dtype": "float32", "shape": [ 30 ], "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "G1edu-u3_pick_up_the_bread_az_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.ego_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "pick_up_the_bread_az", "dataset_uuid": null, "task_descriptions": [ "pick up the bread on the table." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "bread", "level1": "food", "level2": "bread", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "unitree_g1" ], "end_effector_type": "three_finger_hand" } }, "Cobot_Magic_move_beverage": { "dataset_name": "move_beverage", "dataset_uuid": "b6d0e7b1-1a5c-4188-bdca-cab2a7c613ed", "scene_type": [ "supermarket", "home", "restaurant" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "green_bottle_beverage", "level1": "drink", "level2": "green_bottle_beverage", "level3": null, "level4": null, "level5": null }, { "object_name": "red_bottle_beverage", "level1": "drink", "level2": "red_bottle_beverage", "level3": null, "level4": null, "level5": null }, { "object_name": "black_bottle_beverage", "level1": "drink", "level2": "black_bottle_beverage", "level3": null, "level4": null, "level5": null } ], "path": "Cobot_Magic_move_beverage", "video_url": "./assets/videos/Cobot_Magic_move_beverage.mp4", "thumbnail_url": "./assets/thumbnails/Cobot_Magic_move_beverage.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "636.5MB", "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": "Cobot_Magic", "codebase_version": "v2.1", "statistics": { "total_episodes": 100, "total_frames": 31813, "total_tasks": 1, "total_videos": 300, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:99" }, "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.state": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "action": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "timestamp": { "dtype": "float32", "shape": [ 1 ], "names": null }, "frame_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "episode_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "task_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "subtask_annotation": { "names": null, "dtype": "int32", "shape": [ 5 ] }, "scene_annotation": { "names": null, "dtype": "int32", "shape": [ 1 ] }, "eef_sim_pose_state": { "names": [ "left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_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 ] }, "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 ] }, "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 ] } }, "tasks": "move one drink among three beverages.", "sub_tasks": [ "End", "Grasp the beverage bottle placed at the back of the desk", "Place the drink at the front of the table", "Pick up the drink", "Place the beverage bottle to the front of the table", "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 } ], "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" ] } ], "state": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] } }, "action_space": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Cobot_Magic_move_beverage_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "move_beverage", "dataset_uuid": null, "task_descriptions": [ "move one drink among three beverages." ], "scene_type": [ "supermarket", "home", "restaurant" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "green_bottle_beverage", "level1": "drink", "level2": "green_bottle_beverage", "level3": null, "level4": null, "level5": null }, { "object_name": "red_bottle_beverage", "level1": "drink", "level2": "red_bottle_beverage", "level3": null, "level4": null, "level5": null }, { "object_name": "black_bottle_beverage", "level1": "drink", "level2": "black_bottle_beverage", "level3": null, "level4": null, "level5": null } ], "device_model": [ "agilex_cobot_decoupled_magic" ], "end_effector_type": "two_finger_gripper", "operation_platform_height": 77.2 } }, "R1_Lite_put_the_shoes_into_the_shoe_box": { "dataset_name": "put_the_shoes_into_the_shoe_box", "dataset_uuid": "87e16c2a-8d5b-4e0b-9706-cfae7e2b29e9", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "shoes", "level1": "clothing", "level2": "shoes", "level3": null, "level4": null, "level5": null }, { "object_name": "shoe_box", "level1": "container", "level2": "shoe_box", "level3": null, "level4": null, "level5": null } ], "path": "R1_Lite_put_the_shoes_into_the_shoe_box", "video_url": "./assets/videos/R1_Lite_put_the_shoes_into_the_shoe_box.mp4", "thumbnail_url": "./assets/thumbnails/R1_Lite_put_the_shoes_into_the_shoe_box.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "3.8GB", "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": "R1_Lite", "codebase_version": "v2.1", "statistics": { "total_episodes": 106, "total_frames": 87219, "total_tasks": 1, "total_videos": 318, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:105" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "take shoes out of box then put back in and close.", "sub_tasks": [ "Put the shoes out of the shoe box", "abnormal", "Put the shoes into the shoe box", "Open the shoe box", "Close the shoe box", "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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "R1_Lite_put_the_shoes_into_the_shoe_box_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "take_out_the_shoe_storage_box", "dataset_uuid": null, "task_descriptions": [ "take shoes out of box then put back in and close." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "shoes", "level1": "clothing", "level2": "shoes", "level3": null, "level4": null, "level5": null }, { "object_name": "shoe_box", "level1": "container", "level2": "shoe_box", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "galaxea_r1_lite" ], "end_effector_type": "two_finger_gripper" } }, "G1edu-u3_put_the_tissue_box_al": { "dataset_name": "put_the_tissue_box_al", "dataset_uuid": "39aeb43d-8473-408d-a61d-bdd24134ab9a", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place" ], "end_effector_type": [ "three_finger_hand" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "tissue", "level1": "daily_supplies", "level2": "tissue", "level3": null, "level4": null, "level5": null } ], "path": "G1edu-u3_put_the_tissue_box_al", "video_url": "./assets/videos/G1edu-u3_put_the_tissue_box_al.mp4", "thumbnail_url": "./assets/thumbnails/G1edu-u3_put_the_tissue_box_al.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "142.3MB", "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": "G1edu-u3", "codebase_version": "v2.1", "statistics": { "total_episodes": 39, "total_frames": 10816, "total_tasks": 1, "total_videos": 39, "total_chunks": 1, "chunks_size": 41, "fps": 30 }, "splits": { "train": "0:38" }, "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.ego_view": { "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.state": { "dtype": "float32", "shape": [ 30 ], "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": [ 30 ], "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": "float64", "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": "Pick up the water bottle\nPick up the bread\nPick up the pink cup\nPick up the lemmon\nPick up the tissue box\nPick up the toy bear\nPlace the water bottle\nPlace the bread\nPlace the pink cup\nPlace the lemon\nPlace the lemon on the orange round plate\nPlace the tissue box\nPlace the toy bear", "sub_tasks": [ "End", "Place the tissue box on the table with both 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.ego_view", "name": "ego_view", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.ego_view", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channel" ] } ], "state": { "dtype": "float32", "shape": [ 30 ], "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_space": { "dtype": "float32", "shape": [ 30 ], "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "G1edu-u3_put_the_tissue_box_al_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.ego_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "put_the_tissue_box_al", "dataset_uuid": null, "task_descriptions": [ "put the tissue box on the table." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "tissue", "level1": "daily_supplies", "level2": "tissue", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "unitree_g1" ], "end_effector_type": "three_finger_hand" } }, "leju_robot_box_storage_parcel_i": { "dataset_name": "box_storage_parcel_i", "dataset_uuid": "6e0f6aaf-d447-436f-bfc3-bedd5a1bce04", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "five_finger_hand" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "parcel", "level1": "container", "level2": "parcel", "level3": null, "level4": null, "level5": null }, { "object_name": "conveyor_belt", "level1": "tool", "level2": "conveyor_belt", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null } ], "path": "leju_robot_box_storage_parcel_i", "video_url": "./assets/videos/leju_robot_box_storage_parcel_i.mp4", "thumbnail_url": "./assets/thumbnails/leju_robot_box_storage_parcel_i.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "19.3GB", "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": "leju_robot", "codebase_version": "v2.1", "statistics": { "total_episodes": 222, "total_frames": 313461, "total_tasks": 1, "total_videos": 666, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:221" }, "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.camera_head_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_left_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_right_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "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": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] }, "action": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "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": "Pick up the bottle on the table and put it into the conveyor belt.", "sub_tasks": [ "Pick up the bottle from the table.", "Flip the bottle to face forward.", "Take the bottle from the table.", "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.camera_head_rgb", "name": "camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_left_wrist_rgb", "name": "camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_right_wrist_rgb", "name": "camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] } }, "action_space": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "leju_robot_box_storage_parcel_i_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.camera_head_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.camera_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.camera_right_wrist_rgb/\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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "box_storage_parcel_i", "dataset_uuid": null, "task_descriptions": [ "moved the parcel from conveyor to table for the left to box." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "parcel", "level1": "container", "level2": "parcel", "level3": null, "level4": null, "level5": null }, { "object_name": "conveyor_belt", "level1": "tool", "level2": "conveyor_belt", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "leju_robot" ], "end_effector_type": "two_finger_gripper" } }, "Cobot_Magic_storage_plate": { "dataset_name": "storage_plate", "dataset_uuid": "9f0b0953-fa62-4d10-8b2a-17b1ff44e9cf", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "rack", "level1": "furniture", "level2": "rack", "level3": null, "level4": null, "level5": null }, { "object_name": "tablecloth", "level1": "clothing", "level2": "tablecloth", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null } ], "path": "Cobot_Magic_storage_plate", "video_url": "./assets/videos/Cobot_Magic_storage_plate.mp4", "thumbnail_url": "./assets/thumbnails/Cobot_Magic_storage_plate.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "903.4MB", "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": "Cobot_Magic", "codebase_version": "v2.1", "statistics": { "total_episodes": 84, "total_frames": 57019, "total_tasks": 1, "total_videos": 252, "total_chunks": 1, "chunks_size": 1000, "fps": 50 }, "splits": { "train": "0:83" }, "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": 50, "video.channels": 3, "has_audio": false } }, "observation.images.cam_left_wrist_rgb_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": 50, "video.channels": 3, "has_audio": false } }, "observation.images.cam_right_wrist_rgb_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": 50, "video.channels": 3, "has_audio": false } }, "observation.state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "place the plate on the shelf on the green table.", "sub_tasks": [ "Left grab the white plate.", "Left grab the gray plate.", "Place the plate on the rack", "Right place it at the front of the shelf.", "Right receive the plate.", "Pick up the plate from the table", "Left lift the plate.", "end", "Left grab the blue plate.", "Left grab the yellow plate.", "Hand over the plate", "Right place it at the back of the shelf.", "Left grab the pink plate.", "Left grab the green plate.", "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": 50, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb_rgb", "name": "cam_left_wrist_rgb_rgb", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 50, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb_rgb", "name": "cam_right_wrist_rgb_rgb", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 50, "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_rgb", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb_rgb", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Cobot_Magic_storage_plate_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_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_rgb/\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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "place_the_test_tube", "dataset_uuid": null, "task_descriptions": [ "pick up the test tube on the green tablecloth with your left hand hand it to your right hand and then place it on the test tube rack.", "pick up the test tube on the green tablecloth with your right hand hand it to your left hand and then place it on the test tube rack.", "pick up the test tube on the black tablecloth with your left hand hand it to your right hand and then place it on the test tube rack.", "pick up the test tube on the black tablecloth with your right hand hand it to your left hand and then place it on the test tube rack.", "pick up the test tube on the table with your left hand hand it to your right hand and then place it on the test tube rack.", "pick up the test tube on the table with your right hand hand it to your left hand and then place it on the test tube rack.", "the left hand picks up a test tube from the gray tablecloth hands it to the right hand and then places it on the test tube rack.", "the right hand picks up a test tube from the gray tablecloth hands it to the left hand and then places it on the test tube rack." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "rack", "level1": "furniture", "level2": "rack", "level3": null, "level4": null, "level5": null }, { "object_name": "tablecloth", "level1": "clothing", "level2": "tablecloth", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "agilex_cobot_decoupled_magic" ], "end_effector_type": "two_finger_gripper" } }, "Tianqin_A2_place_the_paper_box": { "dataset_name": "place_the_paper_box", "dataset_uuid": "291007f6-cfd0-4e23-bc97-da01c0f367ac", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null } ], "path": "Tianqin_A2_place_the_paper_box", "video_url": "./assets/videos/Tianqin_A2_place_the_paper_box.mp4", "thumbnail_url": "./assets/thumbnails/Tianqin_A2_place_the_paper_box.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "3.0GB", "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": "Tianqin_A2", "codebase_version": "v2.1", "statistics": { "total_episodes": 236, "total_frames": 94841, "total_tasks": 1, "total_videos": 708, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:235" }, "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.state": { "dtype": "float32", "shape": [ 17 ], "names": [ "robot_joint_3_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", "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" ] }, "action": { "dtype": "float32", "shape": [ 17 ], "names": [ "robot_joint_3_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", "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 }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "pick up the paper box and put it at the back.", "sub_tasks": [ "End", "Abnormal", "Grasp the paper box", "Place the paper box on the table", "Place the data cable in the another box", "Grasp the data cable", "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 } ], "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" ] } ], "state": { "dtype": "float32", "shape": [ 17 ], "names": [ "robot_joint_3_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", "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" ] } }, "action_space": { "dtype": "float32", "shape": [ 17 ], "names": [ "robot_joint_3_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", "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Tianqin_A2_place_the_paper_box_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "place_the_paper_box", "dataset_uuid": null, "task_descriptions": [ "pick up the paper box and put it at the back." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null } ], "-operation_platform_height": null, "device_model": [ "ruantong_a2d" ], "end_effector_type": "two_finger_gripper" } }, "Split_aloha_wipe_the_table": { "dataset_name": "wipe_the_table", "dataset_uuid": "c5648c51-14f0-4d84-a3cc-2fd1c28069a8", "scene_type": [ "home", "kitchen" ], "atomic_actions": [ "grasp", "place", "pick", "wipe" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "cup", "level1": "container", "level2": "cup", "level3": null, "level4": null, "level5": null }, { "object_name": "rag", "level1": "clothing", "level2": "rag", "level3": null, "level4": null, "level5": null }, { "object_name": "stain", "level1": "garbage", "level2": "stain", "level3": null, "level4": null, "level5": null } ], "path": "Split_aloha_wipe_the_table", "video_url": "./assets/videos/Split_aloha_wipe_the_table.mp4", "thumbnail_url": "./assets/thumbnails/Split_aloha_wipe_the_table.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "1.3GB", "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": "Split_aloha", "codebase_version": "v2.1", "statistics": { "total_episodes": 302, "total_frames": 166266, "total_tasks": 3, "total_videos": 906, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:301" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_left_wrist_rgb": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_right_wrist_rgb": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.state": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "action": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "timestamp": { "dtype": "float32", "shape": [ 1 ], "names": null }, "frame_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "episode_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "task_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "subtask_annotation": { "names": null, "dtype": "int32", "shape": [ 5 ] }, "scene_annotation": { "names": null, "dtype": "int32", "shape": [ 1 ] }, "eef_sim_pose_state": { "names": [ "left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_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 ] }, "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 ] }, "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 ] } }, "tasks": "the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the coffee stain on the table, the right gripper put the purple rag back in its original position.\nthe left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position.\nthe left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the tea stain on the table, the right gripper put the purple rag back in its original position.", "sub_tasks": [ "Stand the paper cup upright", "Wipe the stains off the table with a rag", "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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "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 } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 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" ] } ], "state": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] } }, "action_space": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Split_aloha_wipe_the_table_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "wipe_the_table", "dataset_uuid": null, "task_descriptions": [ "the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the coffee stain on the table, the right gripper put the blue rag back in its original position.", "the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the coffee stain on the table, the right gripper put the purple rag back in its original position.", "the left gripper pick up the fallen cup and place it upright, the right gripper grasp the blue rag and wipe the tea stain on the table, the right gripper put the blue rag back in its original position.", "the left gripper pick up the fallen cup and place it upright, the right gripper grasp the purple rag and wipe the tea stain on the table, the right gripper put the purple rag back in its original position." ], "scene_type": [ "home", "kitchen" ], "atomic_actions": [ "grasp", "place", "pick", "wipe" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "cup", "level1": "container", "level2": "cup", "level3": null, "level4": null, "level5": null }, { "object_name": "rag", "level1": "clothing", "level2": "rag", "level3": null, "level4": null, "level5": null }, { "object_name": "stain", "level1": "garbage", "level2": "stain", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "agilex_cobot_decoupled_magic" ], "end_effector_type": "two_finger_gripper" } }, "RMC-AIDA-L_food_packaging": { "dataset_name": "food_packaging", "dataset_uuid": "59eb8786-4e0e-4c5e-b129-aec36ec1eda9", "scene_type": [ "home", "kitchen" ], "atomic_actions": [ "grasp", "pick", "place", "pull" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "bag", "level1": "container", "level2": "bag", "level3": null, "level4": null, "level5": null }, { "object_name": "lunch_box", "level1": "container", "level2": "lunch_box", "level3": null, "level4": null, "level5": null }, { "object_name": "cucumber", "level1": "vegetable", "level2": "cucumber", "level3": null, "level4": null, "level5": null }, { "object_name": "pear", "level1": "fruit", "level2": "pear", "level3": null, "level4": null, "level5": null }, { "object_name": "banana", "level1": "fruit", "level2": "banana", "level3": null, "level4": null, "level5": null }, { "object_name": "peach", "level1": "fruit", "level2": "peach", "level3": null, "level4": null, "level5": null } ], "path": "RMC-AIDA-L_food_packaging", "video_url": "./assets/videos/RMC-AIDA-L_food_packaging.mp4", "thumbnail_url": "./assets/thumbnails/RMC-AIDA-L_food_packaging.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "9.4GB", "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": "RMC-AIDA-L", "codebase_version": "v2.1", "statistics": { "total_episodes": 497, "total_frames": 817652, "total_tasks": 2, "total_videos": 1491, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:496" }, "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.state": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] }, "action": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "the left gripper pick up the blue bag, the right gripper successively pick up the lunch box, cucumber and pear and place them into the bag, the right gripper zip up the bag.\nthe left gripper pick up the blue bag, the right gripper successively pick up the lunch box, bananna and peach and place them into the bag, the right gripper zip up the bag.", "sub_tasks": [ "Grab the pear with your right hand.", "Pick up the lunch box with your right hand.", "end", "Put the cucumber into the lunch bag with your right hand.", "Hold the lunch bag with your left hand.", "Secure the lunch bag with your left hand.", "Pick up the cucumber with your right hand.", "Hold the lunch bag with your right hand.", "Take the banana with your right hand.", "Place the lunch box into the lunch bag with your right hand.", "Place the peach into the lunch bag with your right hand.", "Zip up the lunch bag with your right hand.", "Put the banana into the lunch bag with your right hand.", "Place the pear into the lunch bag with your right hand.", "Grab the peach with your right hand.", "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 } ], "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" ] } ], "state": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] } }, "action_space": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "RMC-AIDA-L_food_packaging_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "food_packaging", "dataset_uuid": null, "task_descriptions": [ "the left gripper pick up the blue bag, the right gripper pick up the lunch box from the table and placed it in the bag, the right gripper pick up the cucumber from the table and placed it in the bag,the right gripper pick up the pear from the table and placed it in the bag, the right gripper zip up the bag.", "the left gripper pick up the blue bag, the right gripper pick up the lunch box from the table and placed it in the bag, the right gripper pick up the banana from the table and placed it in the bag,the right gripper pick up the peach from the table and placed it in the bag, the right gripper zip up the bag." ], "scene_type": [ "home", "kitchen" ], "atomic_actions": [ "grasp", "pick", "place", "pull" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "bag", "level1": "container", "level2": "bag", "level3": null, "level4": null, "level5": null }, { "object_name": "lunch_box", "level1": "container", "level2": "lunch_box", "level3": null, "level4": null, "level5": null }, { "object_name": "cucumber", "level1": "vegetable", "level2": "cucumber", "level3": null, "level4": null, "level5": null }, { "object_name": "pear", "level1": "fruit", "level2": "pear", "level3": null, "level4": null, "level5": null }, { "object_name": "banana", "level1": "fruit", "level2": "banana", "level3": null, "level4": null, "level5": null }, { "object_name": "peach", "level1": "fruit", "level2": "peach", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "realman rmc-aida-l" ], "end_effector_type": "two_finger_gripper" } }, "AgiBot-g1_tool_storage": { "dataset_name": "tool_storage", "dataset_uuid": "4681c572-c9b2-475c-b9c1-66ed9f3d533d", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "mouse_storage", "level1": "electronic products", "level2": "mouse_storage", "level3": null, "level4": null, "level5": null } ], "path": "AgiBot-g1_tool_storage", "video_url": "./assets/videos/AgiBot-g1_tool_storage.mp4", "thumbnail_url": "./assets/thumbnails/AgiBot-g1_tool_storage.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "13.5GB", "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": "AgiBot-g1", "codebase_version": "v2.1", "statistics": { "total_episodes": 67, "total_frames": 30600, "total_tasks": 1, "total_videos": 536, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:66" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "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, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_back_left_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_back_right_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_center_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_left_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_right_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "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": [ 41 ], "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open", "robot_pos_x_m", "robot_pos_y_m", "robot_pos_z_m", "robot_quat_x", "robot_quat_y", "robot_quat_z", "robot_quat_w" ] }, "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", "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_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 }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "put the tools into the yellow box on the white table.", "sub_tasks": [ "Place the mouse and power cord into the box.", "Grab and lift both the mouse and power cord from the accessory packaging area at the same time.", "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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_back_left_fisheye_rgb", "name": "cam_back_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_back_right_fisheye_rgb", "name": "cam_back_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_center_fisheye_rgb", "name": "cam_high_center_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_left_fisheye_rgb", "name": "cam_high_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_right_fisheye_rgb", "name": "cam_high_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_back_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_back_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_center_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 41 ], "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open", "robot_pos_x_m", "robot_pos_y_m", "robot_pos_z_m", "robot_quat_x", "robot_quat_y", "robot_quat_z", "robot_quat_w" ] } }, "action_space": { "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", "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "AgiBot-g1_tool_storage_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_back_left_fisheye_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_back_right_fisheye_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_high_center_fisheye_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_high_left_fisheye_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_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_high_right_fisheye_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "mouse_storage", "dataset_uuid": null, "task_descriptions": [ "put the mouse into the box." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "mouse_storage", "level1": "electronic products", "level2": "mouse_storage", "level3": null, "level4": null, "level5": null } ], "-operation_platform_height": null, "device_model": [ "tianqing_a2d" ], "end_effector_type": "two_finger_gripper" } }, "Cobot_Magic_cap_the_pen_a": { "dataset_name": "cap_the_pen_a", "dataset_uuid": "b549e79c-e49e-4cec-a476-b94bdd766f22", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place", "insert" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "pen", "level1": "office_supplies", "level2": "pen", "level3": null, "level4": null, "level5": null }, { "object_name": "pen_cap", "level1": "office_supplies", "level2": "pen_cap", "level3": null, "level4": null, "level5": null }, { "object_name": "tablecloth", "level1": "clothing", "level2": "tablecloth", "level3": null, "level4": null, "level5": null } ], "path": "Cobot_Magic_cap_the_pen_a", "video_url": "./assets/videos/Cobot_Magic_cap_the_pen_a.mp4", "thumbnail_url": "./assets/thumbnails/Cobot_Magic_cap_the_pen_a.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "1.0GB", "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": "Cobot_Magic", "codebase_version": "v2.1", "statistics": { "total_episodes": 55, "total_frames": 51317, "total_tasks": 1, "total_videos": 165, "total_chunks": 1, "chunks_size": 1000, "fps": 50 }, "splits": { "train": "0:54" }, "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": 50, "video.channels": 3, "has_audio": false } }, "observation.images.cam_left_wrist_rgb_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": 50, "video.channels": 3, "has_audio": false } }, "observation.images.cam_right_wrist_rgb_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": 50, "video.channels": 3, "has_audio": false } }, "observation.state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "on the grey tablecloth, hold the pen cap in one hand and the pen in the other, then cover the pen cap.", "sub_tasks": [ "Secure the pen cap with the right hand.", "Insert the pen into the cap", "End", "Put the cap on the pen", "Pick up the pen cap", "Grab the pen barrel with the left hand.", "Secure the pen cap with the left hand.", "Grab the pen cap with the left hand.", "Place the pen on the table", "Abnormal", "Grab the pen cap with the right hand.", "Insert the pen cap with the right hand.", "Grab the pen barrel with the right hand.", "Pick up the pen", "Place the pen down with the right hand.", "Insert the pen cap with the left hand.", "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": 50, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb_rgb", "name": "cam_left_wrist_rgb_rgb", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 50, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb_rgb", "name": "cam_right_wrist_rgb_rgb", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 50, "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_rgb", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb_rgb", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Cobot_Magic_cap_the_pen_a_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_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_rgb/\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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "cap_the_pen_a", "dataset_uuid": null, "task_descriptions": [ "on the green tablecloth, hold the pen cap in one hand and the pen in the other, then cover the pen cap.", "on the grey tablecloth, hold the pen cap in one hand and the pen in the other, then cover the pen cap.", "on the white tablecloth, hold the pen cap in one hand and the pen in the other, then cover the pen cap." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place", "insert" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "pen", "level1": "office_supplies", "level2": "pen", "level3": null, "level4": null, "level5": null }, { "object_name": "pen_cap", "level1": "office_supplies", "level2": "pen_cap", "level3": null, "level4": null, "level5": null }, { "object_name": "tablecloth", "level1": "clothing", "level2": "tablecloth", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "agilex_cobot_magic_aloha" ], "end_effector_type": "two_finger_gripper" } }, "Split_aloha_wipe_table": { "dataset_name": "wipe_table", "dataset_uuid": "18848f29-f6ff-4f8a-ab4d-acc67d812c64", "scene_type": [ "home", "kitchen" ], "atomic_actions": [ "grasp", "place", "pick", "wipe" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "cup", "level1": "container", "level2": "cup", "level3": null, "level4": null, "level5": null }, { "object_name": "rag", "level1": "clothing", "level2": "rag", "level3": null, "level4": null, "level5": null }, { "object_name": "stain", "level1": "garbage", "level2": "stain", "level3": null, "level4": null, "level5": null } ], "path": "Split_aloha_wipe_table", "video_url": "./assets/videos/Split_aloha_wipe_table.mp4", "thumbnail_url": "./assets/thumbnails/Split_aloha_wipe_table.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "1.3GB", "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": "Split_aloha", "codebase_version": "v2.1", "statistics": { "total_episodes": 200, "total_frames": 106804, "total_tasks": 1, "total_videos": 600, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:199" }, "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.state": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "action": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "timestamp": { "dtype": "float32", "shape": [ 1 ], "names": null }, "frame_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "episode_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "task_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "subtask_annotation": { "names": null, "dtype": "int32", "shape": [ 5 ] }, "scene_annotation": { "names": null, "dtype": "int32", "shape": [ 1 ] }, "eef_sim_pose_state": { "names": [ "left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_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 ] }, "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 ] }, "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 ] } }, "tasks": "the left gripper pick up the fallen cup and place it upright, the right gripper grasp the black rag and wipe the stain on the table, the right gripper put the black rag back in its original position.", "sub_tasks": [ "Grasp the rag with right gripper", "Abnormal", "Place the rag on the table with right gripper", "Stand the paper cup upright with left gripper", "End", "Static", "Grasp the paper cup with left gripper", "Wipe the stains off the table with the rag with right 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 } ], "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" ] } ], "state": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] } }, "action_space": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Split_aloha_wipe_table_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "wipe_table", "dataset_uuid": null, "task_descriptions": [ "the left gripper pick up the fallen cup and place it upright, the right gripper grasp the black rag and wipe the stain on the table, the right gripper put the black rag back in its original position." ], "scene_type": [ "home", "kitchen" ], "atomic_actions": [ "grasp", "place", "pick", "wipe" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "cup", "level1": "container", "level2": "cup", "level3": null, "level4": null, "level5": null }, { "object_name": "rag", "level1": "clothing", "level2": "rag", "level3": null, "level4": null, "level5": null }, { "object_name": "stain", "level1": "garbage", "level2": "stain", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "agilex_cobot_decoupled_magic" ], "end_effector_type": "two_finger_gripper" } }, "R1_Lite_pour_water": { "dataset_name": "pour_water", "dataset_uuid": "8b05bffb-745b-4de7-bbfa-113e42018671", "scene_type": [ "home", "restaurant" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "water", "level1": "drink", "level2": "water", "level3": null, "level4": null, "level5": null }, { "object_name": "kettle", "level1": "electric_appliance", "level2": "kettle", "level3": null, "level4": null, "level5": null }, { "object_name": "cup", "level1": "container", "level2": "cup", "level3": null, "level4": null, "level5": null } ], "path": "R1_Lite_pour_water", "video_url": "./assets/videos/R1_Lite_pour_water.mp4", "thumbnail_url": "./assets/thumbnails/R1_Lite_pour_water.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "2.0GB", "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": "R1_Lite", "codebase_version": "v2.1", "statistics": { "total_episodes": 51, "total_frames": 53125, "total_tasks": 1, "total_videos": 153, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:50" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "pour water into two cups then put kettle down on table.", "sub_tasks": [ "Pour water into the cup", "Put the cup down on the table", "Put down the kettle on the table", "Pour water into another cup", "Pick up the cup", "Pick up the kettle", "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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "R1_Lite_pour_water_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "pour_water", "dataset_uuid": null, "task_descriptions": [ "pour water into two cups then put kettle down on table." ], "scene_type": [ "home", "restaurant" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "water", "level1": "drink", "level2": "water", "level3": null, "level4": null, "level5": null }, { "object_name": "kettle", "level1": "electric_appliance", "level2": "kettle", "level3": null, "level4": null, "level5": null }, { "object_name": "cup", "level1": "container", "level2": "cup", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "galaxea_r1_lite" ], "end_effector_type": "two_finger_gripper" } }, "Galbot_g1_steamer_storage_baozi_j": { "dataset_name": "steamer_storage_baozi_j", "dataset_uuid": "b53dc50b-2b01-4783-900a-e0a8fa876a20", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "end_effector_type": "two_finger_gripper", "operation_platform_height": 0.0, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "baozi", "level1": "food", "level2": "baozi", "level3": null, "level4": null, "level5": null }, { "object_name": "steamer", "level1": "container", "level2": "steamer", "level3": null, "level4": null, "level5": null }, { "object_name": "pot_lid", "level1": "daily_necessities", "level2": "pot_lid", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null } ], "path": "Galbot_g1_steamer_storage_baozi_j", "video_url": "./assets/videos/Galbot_g1_steamer_storage_baozi_j.mp4", "thumbnail_url": "./assets/thumbnails/Galbot_g1_steamer_storage_baozi_j.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "1.1GB", "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": "Galbot_g1", "codebase_version": "v2.1", "statistics": { "total_episodes": 41, "total_frames": 56015, "total_tasks": 1, "total_videos": 123, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:40" }, "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": [ 368, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 368, "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": [ 368, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 368, "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": [ 49 ], "names": [ "body_joint_1_rad", "body_joint_2_rad", "body_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", "left_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm" ] }, "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", "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" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "take steamed baozi put them in steamer then cover it.", "sub_tasks": [ "Place the pot lid on the table with left gripper", "Grasp the pot lid with left gripper", "Place the pot lid on the steamer with left gripper", "End", "Move the switch to the right with left gripper", "Place the baozi on the steamer with right gripper", "Grasp the baozi with right gripper", "Place the baozi on the plate with right gripper", "Move the switch to the left with right gripper", "Grasp the baozi in the plate with right 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": [ 368, 640, 3 ], "resolution": [ 368, 640 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 368, 640, 3 ], "resolution": [ 368, 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": [ 368, 640, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 368, 640, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 49 ], "names": [ "body_joint_1_rad", "body_joint_2_rad", "body_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", "left_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm" ] } }, "action_space": { "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", "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Galbot_g1_steamer_storage_baozi_j_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "steamer_storage_baozi_j", "dataset_uuid": null, "task_descriptions": [ "take steamed baozi put them in steamer then cover it." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "baozi", "level1": "food", "level2": "baozi", "level3": null, "level4": null, "level5": null }, { "object_name": "steamer", "level1": "container", "level2": "steamer", "level3": null, "level4": null, "level5": null }, { "object_name": "pot_lid", "level1": "daily_necessities", "level2": "pot_lid", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 0, "device_model": [ "galbo" ], "end_effector_type": "two_finger_gripper" } }, "AgiBot-g1_picks_up_battery_b": { "dataset_name": "picks_up_battery_b", "dataset_uuid": "69e28097-0f6e-4238-8562-b87280af0714", "scene_type": [ "factory" ], "atomic_actions": [ "place", "pick", "grasp" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "carton", "level1": "tool", "level2": "carton", "level3": null, "level4": null, "level5": null }, { "object_name": "battery", "level1": "tool", "level2": "battery", "level3": null, "level4": null, "level5": null } ], "path": "AgiBot-g1_picks_up_battery_b", "video_url": "./assets/videos/AgiBot-g1_picks_up_battery_b.mp4", "thumbnail_url": "./assets/thumbnails/AgiBot-g1_picks_up_battery_b.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "71.4GB", "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": "AgiBot-g1", "codebase_version": "v2.1", "statistics": { "total_episodes": 329, "total_frames": 131840, "total_tasks": 1, "total_videos": 2632, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:328" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "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, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_back_left_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_back_right_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_center_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_left_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_right_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "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": [ 41 ], "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open", "robot_pos_x_m", "robot_pos_y_m", "robot_pos_z_m", "robot_quat_x", "robot_quat_y", "robot_quat_z", "robot_quat_w" ] }, "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", "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_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 }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "using a robotic arm to pick up battery.", "sub_tasks": [ "Place the power supply on the operating table.", "Grab and lift the power supply from the large box.", "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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_back_left_fisheye_rgb", "name": "cam_back_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_back_right_fisheye_rgb", "name": "cam_back_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_center_fisheye_rgb", "name": "cam_high_center_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_left_fisheye_rgb", "name": "cam_high_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_right_fisheye_rgb", "name": "cam_high_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_back_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_back_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_center_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 41 ], "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open", "robot_pos_x_m", "robot_pos_y_m", "robot_pos_z_m", "robot_quat_x", "robot_quat_y", "robot_quat_z", "robot_quat_w" ] } }, "action_space": { "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", "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "AgiBot-g1_picks_up_battery_b_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_back_left_fisheye_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_back_right_fisheye_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_high_center_fisheye_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_high_left_fisheye_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_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_high_right_fisheye_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "picks_up_battery_b", "dataset_uuid": null, "task_descriptions": [ "take out the battery from the box and place it in the material preparation area" ], "scene_type": [ "factory" ], "atomic_actions": [ "place", "pick", "grasp" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "carton", "level1": "tool", "level2": "carton", "level3": null, "level4": null, "level5": null }, { "object_name": "battery", "level1": "tool", "level2": "battery", "level3": null, "level4": null, "level5": null } ], "-operation_platform_height": null, "device_model": [ "tianqing_a2d" ], "end_effector_type": "two_finger_gripper" } }, "AIRBOT_MMK2_close_the_computer": { "dataset_name": "close_the_computer", "dataset_uuid": "5e9fe536-85e9-4e68-b390-51ba7aec5e6b", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "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": "computer", "level1": "office_supplies", "level2": "computer", "level3": null, "level4": null, "level5": null } ], "path": "AIRBOT_MMK2_close_the_computer", "video_url": "./assets/videos/AIRBOT_MMK2_close_the_computer.mp4", "thumbnail_url": "./assets/thumbnails/AIRBOT_MMK2_close_the_computer.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "1K-10K", "dataset_size": "320.9MB", "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": 7754, "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", 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"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": "Hold the computer with one hand and close it with the other.", "sub_tasks": [ "End", "Press the laptop with the left gripper", "Release the laptop with the left gripper", "Static", "Abnormal", "Close the laptop with the right 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_close_the_computer_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "close_the_computer", "dataset_uuid": null, "task_descriptions": [ "hold the computer with your left hand and close it with your right hand." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "computer", "level1": "office_supplies", "level2": "computer", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "airbot mmk2" ], "end_effector_type": "five_finger_hand" } }, "RMC-AIDA-L_build_blocks": { "dataset_name": "build_blocks", "dataset_uuid": "a46926fb-7a26-4e5e-a5ff-1109548c473e", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "building_block", "level1": "toy", "level2": "building_blocks", "level3": null, "level4": null, "level5": null } ], "path": "RMC-AIDA-L_build_blocks", "video_url": "./assets/videos/RMC-AIDA-L_build_blocks.mp4", "thumbnail_url": "./assets/thumbnails/RMC-AIDA-L_build_blocks.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "6.6GB", "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": "RMC-AIDA-L", "codebase_version": "v2.1", "statistics": { "total_episodes": 791, "total_frames": 842846, "total_tasks": 2, "total_videos": 2373, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:790" }, "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.state": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] }, "action": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "One arm begins to build blocks.\nOne arm begins to build blocks.", "sub_tasks": [ "Place the box-shaped block onto the arch-shaped block with the right gripper", "End", "Grasp the arch-shaped block with the right gripper", "Grasp the arch-shaped block with the left gripper", "Grasp the box-shaped block with the right gripper", "Place the box-shaped block onto the arch-shaped block with the left gripper", "Place the triangle-shaped block onto the box-shaped block with the right gripper", "Place the arch-shaped block in the center of view with the right gripper", "Grasp the box-shaped block with the left gripper", "Grasp the triangle-shaped block with the right gripper", "Place the triangle-shaped block onto the box-shaped block with the left grippe", "Place the triangle-shaped block onto the box-shaped block with the left gripper", "Grasp the triangle-shaped block with the left gripper", "abnormal", "Place the arch-shaped block in the center of view 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 } ], "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" ] } ], "state": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] } }, "action_space": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "RMC-AIDA-L_build_blocks_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "build_blocks", "dataset_uuid": null, "task_descriptions": [ "left arm begins to build blocks.", "right arm begins to build blocks." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "building_block", "level1": "toy", "level2": "building_blocks", "level3": null, "level4": null, "level5": null } ], "device_model": [ "realman rmc-aida-l" ], "end_effector_type": "two_finger_gripper", "operation_platform_height": 77.2 } }, "RMC-AIDA-L_organise_the_document_bag": { "dataset_name": "organise_the_document_bag", "dataset_uuid": "327e0fe7-1be9-4724-b1ae-f511d8ab7f6b", "scene_type": [ "office" ], "atomic_actions": [ "grasp", "place", "pick", "pull" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "document_bag", "level1": "container", "level2": "document_bag", "level3": null, "level4": null, "level5": null } ], "path": "RMC-AIDA-L_organise_the_document_bag", "video_url": "./assets/videos/RMC-AIDA-L_organise_the_document_bag.mp4", "thumbnail_url": "./assets/thumbnails/RMC-AIDA-L_organise_the_document_bag.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "2.0GB", "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": "RMC-AIDA-L", "codebase_version": "v2.1", "statistics": { "total_episodes": 480, "total_frames": 225360, "total_tasks": 4, "total_videos": 1440, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:479" }, "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.state": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] }, "action": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "Open the green document bag.\nOpen the green document bag.\nOpen the red document bag.\nOpen the red document bag.", "sub_tasks": [ "Pulling up the zipper on the transparent plastic bag with the right gripper to close it", "Pulling up the zipper on the transparent plastic bag with the left gripper to close it", "Pick up the transparent plastic bag with the left gripper", "Pick up the transparent plastic bag with the right gripper", "Place the transparent plastic bag", "Place the transparent plastic bag with the right gripper", "End", "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 } ], "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" ] } ], "state": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] } }, "action_space": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "RMC-AIDA-L_organise_the_document_bag_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "organise_the_document_bag", "dataset_uuid": null, "task_descriptions": [ "open the green document bag with left hand.", "open the green document bag with right hand.", "open the red document bag with left hand.", "open the red document bag with right hand." ], "scene_type": [ "office" ], "atomic_actions": [ "grasp", "place", "pick", "pull" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "document_bag", "level1": "container", "level2": "document_bag", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "realman_rmc_aidal" ], "end_effector_type": "two_finger_gripper" } }, "Cobot_Magic_put_in_the_pear": { "dataset_name": "put_in_the_pear", "dataset_uuid": "9ef9a074-b4b1-4d16-a577-460381b81a91", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "pear", "level1": "fruit", "level2": "pear", "level3": null, "level4": null, "level5": null } ], "path": "Cobot_Magic_put_in_the_pear", "video_url": "./assets/videos/Cobot_Magic_put_in_the_pear.mp4", "thumbnail_url": "./assets/thumbnails/Cobot_Magic_put_in_the_pear.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "461.5MB", "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": "Cobot_Magic", "codebase_version": "v2.1", "statistics": { "total_episodes": 97, "total_frames": 21690, "total_tasks": 1, "total_videos": 291, "total_chunks": 1, "chunks_size": 1000, "fps": 50 }, "splits": { "train": "0:96" }, "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": 50, "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": 50, "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": 50, "video.channels": 3, "has_audio": false } }, "observation.state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "Grasp the pear and place it on one side of the table.", "sub_tasks": [ "Grasp the high-fiber fruit", "abnormal", "Place it on the right side of the table", "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": 50, "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": 50, "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": 50, "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" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Cobot_Magic_put_in_the_pear_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "put_in_the_pear", "dataset_uuid": null, "task_descriptions": [ "grasp the pear and place it on the right side of the table." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "pear", "level1": "fruit", "level2": "pear", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "agilex_cobot_decoupled_magic" ], "end_effector_type": "two_finger_gripper" } }, "Galbot_g1_steamer_storage_baozi_e": { "dataset_name": "steamer_storage_baozi_e", "dataset_uuid": "c1e9fbc2-7775-4cc2-9a8c-d4c58aca210a", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "end_effector_type": "two_finger_gripper", "operation_platform_height": 0.0, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "baozi", "level1": "food", "level2": "baozi", "level3": null, "level4": null, "level5": null }, { "object_name": "steamer", "level1": "container", "level2": "steamer", "level3": null, "level4": null, "level5": null }, { "object_name": "pot_lid", "level1": "daily_necessities", "level2": "pot_lid", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null } ], "path": "Galbot_g1_steamer_storage_baozi_e", "video_url": "./assets/videos/Galbot_g1_steamer_storage_baozi_e.mp4", "thumbnail_url": "./assets/thumbnails/Galbot_g1_steamer_storage_baozi_e.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "11.2GB", "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": "Galbot_g1", "codebase_version": "v2.1", "statistics": { "total_episodes": 607, "total_frames": 627792, "total_tasks": 1, "total_videos": 1821, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:606" }, "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": [ 368, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 368, "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": [ 368, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 368, "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": [ 49 ], "names": [ "body_joint_1_rad", "body_joint_2_rad", "body_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", "left_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm" ] }, "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", "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" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "take steamed baozi put them in steamer then cover it.", "sub_tasks": [ "Grasp the pot lid with left gripper", "Abnormal", "Place the pot lid on the steamer with left gripper", "End", "Place the baozi on the steamer with right gripper", "Grasp the baozi in the plate with right 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": [ 368, 640, 3 ], "resolution": [ 368, 640 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 368, 640, 3 ], "resolution": [ 368, 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": [ 368, 640, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 368, 640, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 49 ], "names": [ "body_joint_1_rad", "body_joint_2_rad", "body_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", "left_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm" ] } }, "action_space": { "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", "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Galbot_g1_steamer_storage_baozi_e_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "steamer_storage_baozi_e", "dataset_uuid": null, "task_descriptions": [ "take steamed baozi put them in steamer then cover it." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "baozi", "level1": "food", "level2": "baozi", "level3": null, "level4": null, "level5": null }, { "object_name": "steamer", "level1": "container", "level2": "steamer", "level3": null, "level4": null, "level5": null }, { "object_name": "pot_lid", "level1": "daily_necessities", "level2": "pot_lid", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 0, "device_model": [ "galbo" ], "end_effector_type": "two_finger_gripper" } }, "RMC-AIDA-L_pull_open_bag": { "dataset_name": "pull_open_bag", "dataset_uuid": "4363efec-236f-4495-a86b-14c3a5d20345", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pull", "zip", "up" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "food_bag", "level1": "container", "level2": "food_bag", "level3": null, "level4": null, "level5": null }, { "object_name": "zipper", "level1": "fastener", "level2": "zipper", "level3": null, "level4": null, "level5": null } ], "path": "RMC-AIDA-L_pull_open_bag", "video_url": "./assets/videos/RMC-AIDA-L_pull_open_bag.mp4", "thumbnail_url": "./assets/thumbnails/RMC-AIDA-L_pull_open_bag.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "8.3GB", "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": "RMC-AIDA-L", "codebase_version": "v2.1", "statistics": { "total_episodes": 1396, "total_frames": 684327, "total_tasks": 5, "total_videos": 4188, "total_chunks": 2, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:1395" }, "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.state": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] }, "action": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "unzip the black food bag.\nclose the zipper of the black food bag.\nclose the zipper of the food bag.\nunzip the khaki food bag.\nclose the zipper of the khaki food bag.", "sub_tasks": [ "Grab the zipper with your left hand.", "Abnormal", "Place the bag on the table with left gripper", "Pull open the zipper with your right hand.", "Grab the bag with your left hand.", "Static", "Unzip the zipper of bag with right gripper", "End", "Pick up the bag with left gripper", "Pick up the bag with right gripper", "Deliver the bag from right gripper to left gripper", "Pull up the zipper with your right hand.", "Discard.", "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 } ], "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" ] } ], "state": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] } }, "action_space": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "RMC-AIDA-L_pull_open_bag_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│ └── chunk-001/\n│ ├── episode_001000.parquet\n│ ├── episode_001001.parquet\n│ ├── episode_001002.parquet\n│ ├── episode_001003.parquet\n│ ├── episode_001004.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 └── chunk-001/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_001000.mp4\n ├── episode_001001.mp4\n ├── episode_001002.mp4\n ├── episode_001003.mp4\n ├── episode_001004.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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "pull_open_bag", "dataset_uuid": null, "task_descriptions": [ "unzip the black food bag.", "close the zipper of the black food bag.", "unzip the khaki food bag.", "close the zipper of the khaki food bag.", "close the zipper of the food bag." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pull", "zip", "up" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "food_bag", "level1": "container", "level2": "food_bag", "level3": null, "level4": null, "level5": null }, { "object_name": "zipper", "level1": "fastener", "level2": "zipper", "level3": null, "level4": null, "level5": null } ], "device_model": [ "realman_rmc_aidal" ], "end_effector_type": "two_finger_gripper", "operation_platform_height": 77.2 } }, "G1edu-u3_plate_storage_doll": { "dataset_name": "plate_storage_doll", "dataset_uuid": "45f1baec-34a9-4f8d-bc50-3ef2086cf1a9", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "three_finger_hand" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "doll", "level1": "toy", "level2": "doll", "level3": null, "level4": null, "level5": null } ], "path": "G1edu-u3_plate_storage_doll", "video_url": "./assets/videos/G1edu-u3_plate_storage_doll.mp4", "thumbnail_url": "./assets/thumbnails/G1edu-u3_plate_storage_doll.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "3.7GB", "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": "G1edu-u3", "codebase_version": "v2.1", "statistics": { "total_episodes": 388, "total_frames": 133026, "total_tasks": 2, "total_videos": 1164, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:387" }, "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.color_left_wrist": { "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.color_right_wrist": { "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": [ 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 }, "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": "Pick up the doll on one side of the plate and place it into the plate.\nPick up the doll on the other side of the plate and place it into the plate.", "sub_tasks": [ "Grasp the pink doll with the left gripper", "Static", "Place the pink doll into the plate with the left gripper", "End", "Place the pink doll into the plate with the right gripper", "Grasp the pink doll with the right 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.color_left_wrist", "name": "color_left_wrist", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 30, "is_depth": false }, { "key": "observation.images.color_right_wrist", "name": "color_right_wrist", "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.color_left_wrist", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.color_right_wrist", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ] } ], "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_space": { "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "G1edu-u3_plate_storage_doll_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.color_left_wrist/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.color_right_wrist/\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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "plate_storage_doll", "dataset_uuid": null, "task_descriptions": [ "the left hand pick up the doll on the left side of the plate and place it into the plate.", "the right hand pick up the doll on the right side of the plate and place it into the plate." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "doll", "level1": "toy", "level2": "doll", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "unitree_g1" ], "end_effector_type": "five_finger_hand" } }, "R1_Lite_take_and_put_the_bowl": { "dataset_name": "take_and_put_the_bowl", "dataset_uuid": "29eb76ea-0c49-4f11-8073-7f7501b77736", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "cabinet", "level1": "furniture", "level2": "cabinet", "level3": null, "level4": null, "level5": null }, { "object_name": "bowl", "level1": "container", "level2": "bowl", "level3": null, "level4": null, "level5": null }, { "object_name": "cabinet_door", "level1": "furniture", "level2": "cabinet_door", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null } ], "path": "R1_Lite_take_and_put_the_bowl", "video_url": "./assets/videos/R1_Lite_take_and_put_the_bowl.mp4", "thumbnail_url": "./assets/thumbnails/R1_Lite_take_and_put_the_bowl.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "7.0GB", "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": "R1_Lite", "codebase_version": "v2.1", "statistics": { "total_episodes": 94, "total_frames": 189200, "total_tasks": 1, "total_videos": 282, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:93" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "put bowls plates in cabinet then take out to table close.", "sub_tasks": [ "Place it on the table", "Put it back into the cabinet", "Take the plate from the cabinet", "Pick up the plate from the table", "Close the cabinet door", "Pick up the bowl from the table", "Take the bowl from the cabinet", "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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "R1_Lite_take_and_put_the_bowl_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "Take out and store bowls", "dataset_uuid": null, "task_descriptions": [ "put bowls plates in cabinet then take out to table close." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "cabinet", "level1": "furniture", "level2": "cabinet", "level3": null, "level4": null, "level5": null }, { "object_name": "bowl", "level1": "container", "level2": "bowl", "level3": null, "level4": null, "level5": null }, { "object_name": "cabinet_door", "level1": "furniture", "level2": "cabinet_door", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "galaxea_r1_lite" ], "end_effector_type": "two_finger_gripper" } }, "leju_robot_box_storage_parcel_k": { "dataset_name": "box_storage_parcel_k", "dataset_uuid": "162c9346-de62-45d2-ad6e-797392fe4287", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "five_finger_hand" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "parcel", "level1": "container", "level2": "parcel", "level3": null, "level4": null, "level5": null }, { "object_name": "conveyor_belt", "level1": "tool", "level2": "conveyor_belt", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null } ], "path": "leju_robot_box_storage_parcel_k", "video_url": "./assets/videos/leju_robot_box_storage_parcel_k.mp4", "thumbnail_url": "./assets/thumbnails/leju_robot_box_storage_parcel_k.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "19.9GB", "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": "leju_robot", "codebase_version": "v2.1", "statistics": { "total_episodes": 229, "total_frames": 321210, "total_tasks": 1, "total_videos": 687, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:228" }, "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.camera_head_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_left_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_right_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "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": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] }, "action": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "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": "Pick up the detergent and place it in the designated location.", "sub_tasks": [ "Pick up the bottle from the table.", "Flip the bottle to face forward.", "Take the bottle from the table.", "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.camera_head_rgb", "name": "camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_left_wrist_rgb", "name": "camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_right_wrist_rgb", "name": "camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] } }, "action_space": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "leju_robot_box_storage_parcel_k_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.camera_head_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.camera_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.camera_right_wrist_rgb/\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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "box_storage_parcel_k", "dataset_uuid": null, "task_descriptions": [ "moved the parcel from conveyor to table for the left to box." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "parcel", "level1": "container", "level2": "parcel", "level3": null, "level4": null, "level5": null }, { "object_name": "conveyor_belt", "level1": "tool", "level2": "conveyor_belt", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "leju_robot" ], "end_effector_type": "two_finger_gripper" } }, "AIRBOT_MMK2_chop_the_scallions": { "dataset_name": "chop_the_scallions", "dataset_uuid": "5beeb056-0ab1-4611-8791-0f80b7dc82d2", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place", "cut" ], "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": "knife", "level1": "food", "level2": "green_onion", "level3": null, "level4": null, "level5": null } ], "path": "AIRBOT_MMK2_chop_the_scallions", "video_url": "./assets/videos/AIRBOT_MMK2_chop_the_scallions.mp4", "thumbnail_url": "./assets/thumbnails/AIRBOT_MMK2_chop_the_scallions.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "555.2MB", "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": 13819, "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": "Take the knife off the knife rack with one hand, hold the scallion with the other hand, cut the scallion with the knife, and then put the knife back on the knife rack.", "sub_tasks": [ "End", "Press the scallion with the left gripper", "Abnormal", "Grasp the kitchen knife with the right gripper", "Static", "Place the kitchen knife back on the knife holder with the right gripper", "Cut scallions with the right 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_chop_the_scallions_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "chop_the_scallions", "dataset_uuid": null, "task_descriptions": [ "take the knife off the knife rack with your right hand, hold the scallion with your left hand, cut the scallion with your right hand, and then put the knife back on the knife rack." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place", "cut" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "knife", "level1": "food", "level2": "green_onion", "level3": null, "level4": null, "level5": null, "bject_name": "green_onion" } ], "operation_platform_height": 77.2, "device_model": [ "discover_robotics_aitbot_mmk2" ], "end_effector_type": "two_finger_gripper" } }, "leju_robot_box_storage_parcel_f": { "dataset_name": "box_storage_parcel_f", "dataset_uuid": "52fd6211-f929-4608-b45d-501557f97fc8", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "five_finger_hand" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "parcel", "level1": "container", "level2": "parcel", "level3": null, "level4": null, "level5": null }, { "object_name": "conveyor_belt", "level1": "tool", "level2": "conveyor_belt", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null } ], "path": "leju_robot_box_storage_parcel_f", "video_url": "./assets/videos/leju_robot_box_storage_parcel_f.mp4", "thumbnail_url": "./assets/thumbnails/leju_robot_box_storage_parcel_f.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "9.5GB", "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": "leju_robot", "codebase_version": "v2.1", "statistics": { "total_episodes": 497, "total_frames": 185943, "total_tasks": 1, "total_videos": 1491, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:496" }, "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.camera_head_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_left_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_right_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "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": [ 118 ], "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", 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"left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "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": "moved the parcel from conveyor to table for the left to box.", "sub_tasks": [ "Place the package into the parcel locker.", "Pick up the package from the inbound machine.", "Pick up the package from the conveyor belt.", "Place the package onto the inbound machine.", "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.camera_head_rgb", "name": "camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_left_wrist_rgb", "name": "camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_right_wrist_rgb", "name": "camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] } }, "action_space": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "leju_robot_box_storage_parcel_f_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.camera_head_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.camera_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.camera_right_wrist_rgb/\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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "box_storage_parcel_f", "dataset_uuid": null, "task_descriptions": [ "moved the parcel from conveyor to table for the left to box." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "parcel", "level1": "container", "level2": "parcel", "level3": null, "level4": null, "level5": null }, { "object_name": "conveyor_belt", "level1": "tool", "level2": "conveyor_belt", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "leju_robot" ], "end_effector_type": "two_finger_gripper" } }, "G1edu-u3_place_plastic_bowl_ag": { "dataset_name": "place_plastic_bowl_ag", "dataset_uuid": "200d19c3-55a3-44fd-830a-10c1b2f63ed7", "scene_type": [ "home" ], "atomic_actions": [ "pick", "place" ], "end_effector_type": [ "three_finger_hand" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "plastic_bowl", "level1": "container", "level2": "plastic_bowl", "level3": null, "level4": null, "level5": null } ], "path": "G1edu-u3_place_plastic_bowl_ag", "video_url": "./assets/videos/G1edu-u3_place_plastic_bowl_ag.mp4", "thumbnail_url": "./assets/thumbnails/G1edu-u3_place_plastic_bowl_ag.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "1K-10K", "dataset_size": "116.0MB", "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": "G1edu-u3", "codebase_version": "v2.1", "statistics": { "total_episodes": 38, "total_frames": 7219, "total_tasks": 1, "total_videos": 38, "total_chunks": 1, "chunks_size": 39, "fps": 30 }, "splits": { "train": "0:37" }, "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.ego_view": { "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.state": { "dtype": "float32", "shape": [ 30 ], "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": [ 30 ], "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": "float64", "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": "Pick up the crumpled paper\nPick up the empty bottle\nPick up the leftover food\nPick up the metal bowl\nPick up the metal bowl\nPick up the plastic bowl\nPick up the plastic bowl\nPlace the metal bowl\nPlace the metal bowl\nPlace the plastic bowl\nPlace the plastic bowl", "sub_tasks": [ "Place the plastic bowl on the table with right gripper", "End", "Place the plastic bowl on the table with 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.ego_view", "name": "ego_view", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.ego_view", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channel" ] } ], "state": { "dtype": "float32", "shape": [ 30 ], "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_space": { "dtype": "float32", "shape": [ 30 ], "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "G1edu-u3_place_plastic_bowl_ag_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.ego_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "place_plastic_bowl_ag", "dataset_uuid": null, "task_descriptions": [ "put the plastic bowl on the table." ], "scene_type": [ "home" ], "atomic_actions": [ "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "plastic_bowl", "level1": "container", "level2": "plastic_bowl", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "unitree_g1" ], "end_effector_type": "three_finger_hand" } }, "R1_Lite_put_the_pillow_on_the_bed": { "dataset_name": "put_the_pillow_on_the_bed", "dataset_uuid": "c25eff25-52c9-4178-a906-2f1040e89068", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "pillow", "level1": "daily_necessities", "level2": "pillow", "level3": null, "level4": null, "level5": null }, { "object_name": "bed", "level1": "furniture", "level2": "bed", "level3": null, "level4": null, "level5": null } ], "path": "R1_Lite_put_the_pillow_on_the_bed", "video_url": "./assets/videos/R1_Lite_put_the_pillow_on_the_bed.mp4", "thumbnail_url": "./assets/thumbnails/R1_Lite_put_the_pillow_on_the_bed.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "1.7GB", "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": "R1_Lite", "codebase_version": "v2.1", "statistics": { "total_episodes": 48, "total_frames": 53484, "total_tasks": 1, "total_videos": 144, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:47" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "move pillow from bedside to head then foot of bed.", "sub_tasks": [ "Pick up the pillow", "Place the pillow at the end of the bed", "Move to the head of the bed", "Move to the foot of the bed", "Place the pillow at the bedside", "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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "R1_Lite_put_the_pillow_on_the_bed_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "put_the_pillow_on_the_bed", "dataset_uuid": null, "task_descriptions": [ "move pillow from bedside to head then foot of bed." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "pillow", "level1": "daily_necessities", "level2": "pillow", "level3": null, "level4": null, "level5": null }, { "object_name": "bed", "level1": "furniture", "level2": "bed", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "galaxea_r1_lite" ], "end_effector_type": "two_finger_gripper" } }, "RMC-AIDA-L_stir_coffee": { "dataset_name": "stir_coffee", "dataset_uuid": "ee676d19-f3d4-4c11-bb83-9a2474cf77c5", "scene_type": [ "home", "office", "cafe" ], "atomic_actions": [ "grasp", "take", "put", "move", "stir" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "cup", "level1": "tableware", "level2": "cup", "level3": null, "level4": null, "level5": null }, { "object_name": "spoon", "level1": "tableware", "level2": "spoon", "level3": null, "level4": null, "level5": null }, { "object_name": "tablecloth", "level1": "clothing", "level2": "tablecloth", "level3": null, "level4": null, "level5": null } ], "path": "RMC-AIDA-L_stir_coffee", "video_url": "./assets/videos/RMC-AIDA-L_stir_coffee.mp4", "thumbnail_url": "./assets/thumbnails/RMC-AIDA-L_stir_coffee.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "3.6GB", "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": "RMC-AIDA-L", "codebase_version": "v2.1", "statistics": { "total_episodes": 767, "total_frames": 555807, "total_tasks": 8, "total_videos": 2301, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:766" }, "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.state": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] }, "action": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "Move the grey cup to the center, lift the blue spoon, stir it three times in the cup, and put the spoon into the cup.\nMove the grey cup to the center, lift the blue spoon, stir it three times in the cup, and put the spoon into the cup.\nMove the grey cup to the center, lift the pink spoon, stir it three times in the cup, and put the spoon into the cup.\nMove the grey cup to the center, lift the pink spoon, stir it three times in the cup, and put the spoon into the cup.\nMove the red cup to the center, lift the blue spoon, stir it three times in the cup, and put the spoon into the cup.\nMove the red cup to the center, lift the blue spoon, stir it three times in the cup, and put the spoon into the cup.\nMove the red cup to the center, lift the pink spoon, stir it three times in the cup, and put the spoon into the cup.\nMove the red cup to the center, lift the pink spoon, stir it three times in the cup, and put the spoon into the cup.", "sub_tasks": [ "Stir the coffee in the cup with the right gripper", "Stir the coffee with right gripper", "Abnormal", "Move the cup with coffee to the center of view with the right gripper", "Static", "Move the cup in the center of the table with right gripper", "Grasp the spoon with left gripper", "Move the cup with coffee to the center of view with the left gripper", "Stir the coffee in the cup with the left gripper", "Grasp the spoon with right gripper", "End", "Stir the coffee with left gripper", "Move the cup in the center of the table with left gripper", "Pick up the spoon with the left gripper", "Pick up the spoon with the right 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 } ], "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" ] } ], "state": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] } }, "action_space": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "RMC-AIDA-L_stir_coffee_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "stir_coffee", "dataset_uuid": null, "task_descriptions": [ "move the grey cup to the center with your right hand, lift the blue spoon with your left hand and stir it three times in the cup, put the spoon into the cup.", "move the grey cup to the center with your left hand, lift the blue spoon with your right hand and stir it three times in the cup, put the spoon into the cup.", "move the grey cup to the center with your right hand, lift the pink spoon with your left hand and stir it three times in the cup, put the spoon into the cup.", "move the grey cup to the center with your left hand, lift the pink spoon with your right hand and stir it three times in the cup, put the spoon into the cup.", "move the red cup to the center with your right hand, lift the blue spoon with your left hand and stir it three times in the cup, put the spoon into the cup.", "move the red cup to the center with your left hand, lift the blue spoon with your right hand and stir it three times in the cup, put the spoon into the cup.", "move the red cup to the center with your right hand, lift the pink spoon with your left hand and stir it three times in the cup, put the spoon into the cup.", "move the red cup to the center with your left hand, lift the pink spoon with your right hand and stir it three times in the cup, put the spoon into the cup." ], "scene_type": [ "home", "office", "cafe" ], "atomic_actions": [ "grasp", "take", "put", "move", "stir" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "cup", "level1": "tableware", "level2": "cup", "level3": null, "level4": null, "level5": null }, { "object_name": "spoon", "level1": "tableware", "level2": "spoon", "level3": null, "level4": null, "level5": null }, { "object_name": "tablecloth", "level1": "clothing", "level2": "tablecloth", "level3": null, "level4": null, "level5": null } ], "device_model": [ "realman rmc-aida-l" ], "end_effector_type": "two_finger_gripper", "operation_platform_height": 77.2 } }, "G1edu-u3_bowl_storage_grape_singletry": { "dataset_name": "bowl_storage_grape_singletry", "dataset_uuid": "40947b8c-339b-414f-94d9-6d5f24520362", "scene_type": [ "home", "kitchen" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "five_finger_hand", "three_finger_hand" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "bread", "level1": "food", "level2": "bread", "level3": null, "level4": null, "level5": null }, { "object_name": "bowl", "level1": "container", "level2": "bowl", "level3": null, "level4": null, "level5": null } ], "path": "G1edu-u3_bowl_storage_grape_singletry", "video_url": "./assets/videos/G1edu-u3_bowl_storage_grape_singletry.mp4", "thumbnail_url": "./assets/thumbnails/G1edu-u3_bowl_storage_grape_singletry.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "2.3GB", "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": "G1edu-u3", "codebase_version": "v2.1", "statistics": { "total_episodes": 239, "total_frames": 117290, "total_tasks": 1, "total_videos": 717, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:238" }, "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.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_left_high": { "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 }, "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": "Grab the grapes and put them on the plate.", "sub_tasks": [ "End", "Grasp the grapes with left hand", "Place the grapes in the plate with left hand", "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_left_high", "name": "cam_left_high", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist", "name": "cam_left_wrist", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist", "name": "cam_right_wrist", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_left_high", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channel" ] }, { "key": "observation.images.cam_left_wrist", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channel" ] }, { "key": "observation.images.cam_right_wrist", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channel" ] } ], "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_space": { "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "G1edu-u3_bowl_storage_grape_singletry_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_left_high/\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/\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/\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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "bowl_storage_grape_singletry", "dataset_uuid": null, "task_descriptions": [ "pick up the bread from the table and place it into the bowl." ], "scene_type": [ "home", "kitchen" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "bread", "level1": "food", "level2": "bread", "level3": null, "level4": null, "level5": null }, { "object_name": "bowl", "level1": "container", "level2": "bowl", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "unitree_g1" ], "end_effector_type": "five_finger_hand" } }, "RMC-AIDA-L_fruit_storage": { "dataset_name": "fruit_storage", "dataset_uuid": "8276223a-988a-4a97-8459-97f7c498cbb5", "scene_type": [ "home", "kitchen" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "grape", "level1": "fruit", "level2": "grape", "level3": null, "level4": null, "level5": null }, { "object_name": "banana", "level1": "fruit", "level2": "banana", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "bowl", "level1": "container", "level2": "bowl", "level3": null, "level4": null, "level5": null } ], "path": "RMC-AIDA-L_fruit_storage", "video_url": "./assets/videos/RMC-AIDA-L_fruit_storage.mp4", "thumbnail_url": "./assets/thumbnails/RMC-AIDA-L_fruit_storage.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "2.6GB", "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": "RMC-AIDA-L", "codebase_version": "v2.1", "statistics": { "total_episodes": 521, "total_frames": 291785, "total_tasks": 2, "total_videos": 1563, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:520" }, "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.state": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] }, "action": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "the left gripper pick up the bowl from the table, the right gripper pick up the banana from the table and place it in the bowl, the left gripper put down the bowl.\nthe left gripper pick up the banana from the table and place it in the middle plate, the right gripper pick up the grape from the table and place it in the middle plate.", "sub_tasks": [ "End", "Place the grape in the purple plate with left gripper", "Grasp the grape with right gripper", "Place the banana in the purple plate with right gripper", "Place the banana in the blue bowl with left gripper", "Grasp the banana with right gripper", "Grasp the grape with left gripper", "Place the bowl on the table with right gripper", "Place the grape in the purple plate with right gripper", "Place the banana in the purple plate with left gripper", "Lift the blue bowl with right gripper", "Grasp the blue bowl with right gripper", "Static", "Abnormal", "Grasp the banana with 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 } ], "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" ] } ], "state": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] } }, "action_space": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "RMC-AIDA-L_fruit_storage_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "fruit_storage", "dataset_uuid": null, "task_descriptions": [ "the left gripper pick up the bowl from the table, the right gripper pick up the banana from the table and place it in the bowl, the left gripper put down the bowl.", "the left gripper pick up the banana from the table and place it in the middle plate, the right gripper pick up the grape from the table and place it in the middle plate." ], "scene_type": [ "home", "kitchen" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "grape", "level1": "fruit", "level2": "grape", "level3": null, "level4": null, "level5": null }, { "object_name": "banana", "level1": "fruit", "level2": "banana", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "bowl", "level1": "container", "level2": "bowl", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "realman rmc-aida-l" ], "end_effector_type": "two_finger_gripper" } }, "G1edu-u3_pick_up_the_bottled_water_as": { "dataset_name": "pick_up_the_bottled_water_as", "dataset_uuid": "a5f8649a-a1ab-415a-9fd4-b48b04fab77e", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick" ], "end_effector_type": [ "three_finger_hand" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "bottle", "level1": "container", "level2": "bottle", "level3": null, "level4": null, "level5": null }, { "object_name": "water", "level1": "drink", "level2": "water", "level3": null, "level4": null, "level5": null } ], "path": "G1edu-u3_pick_up_the_bottled_water_as", "video_url": "./assets/videos/G1edu-u3_pick_up_the_bottled_water_as.mp4", "thumbnail_url": "./assets/thumbnails/G1edu-u3_pick_up_the_bottled_water_as.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "1K-10K", "dataset_size": "116.6MB", "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": "G1edu-u3", "codebase_version": "v2.1", "statistics": { "total_episodes": 24, "total_frames": 9753, "total_tasks": 1, "total_videos": 24, "total_chunks": 1, "chunks_size": 24, "fps": 30 }, "splits": { "train": "0:23" }, "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.ego_view": { "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.state": { "dtype": "float32", "shape": [ 30 ], "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": [ 30 ], "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": "float64", "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": "Pick up the water bottle\nPick up the bread\nPick up the pink cup\nPick up the lemmon\nPick up the tissue box\nPick up the toy bear\nPlace the water bottle\nPlace the bread\nPlace the pink cup\nPlace the lemon\nPlace the lemon on the orange round plate\nPlace the tissue box\nPlace the toy bear", "sub_tasks": [ "Grasp the water bottle and lift it to the center of the view with right gripper", "Grasp the water bottle and lift it to the center of the view with left gripper", "End", "Abnormal", "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.ego_view", "name": "ego_view", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.ego_view", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channel" ] } ], "state": { "dtype": "float32", "shape": [ 30 ], "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_space": { "dtype": "float32", "shape": [ 30 ], "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "G1edu-u3_pick_up_the_bottled_water_as_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.ego_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "pick_up_the_bottled_water_as", "dataset_uuid": null, "task_descriptions": [ "pick up the water bottle on the table." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "bottle", "level1": "container", "level2": "bottle", "level3": null, "level4": null, "level5": null }, { "object_name": "water", "level1": "drink", "level2": "water", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "unitree_g1" ], "end_effector_type": "three_finger_hand" } }, "G1edu-u3_pick_up_the_tissue_box_ao": { "dataset_name": "pick_up_the_tissue_box_ao", "dataset_uuid": "3adf4438-1317-4ffb-9447-b4dd516c8559", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick" ], "end_effector_type": [ "three_finger_hand" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "tissue", "level1": "daily_supplies", "level2": "tissue", "level3": null, "level4": null, "level5": null } ], "path": "G1edu-u3_pick_up_the_tissue_box_ao", "video_url": "./assets/videos/G1edu-u3_pick_up_the_tissue_box_ao.mp4", "thumbnail_url": "./assets/thumbnails/G1edu-u3_pick_up_the_tissue_box_ao.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "273.8MB", "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": "G1edu-u3", "codebase_version": "v2.1", "statistics": { "total_episodes": 29, "total_frames": 21166, "total_tasks": 1, "total_videos": 29, "total_chunks": 1, "chunks_size": 29, "fps": 30 }, "splits": { "train": "0:28" }, "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.ego_view": { "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.state": { "dtype": "float32", "shape": [ 30 ], "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": [ 30 ], "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": "float64", "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": "Pick up the water bottle\nPick up the bread\nPick up the pink cup\nPick up the lemmon\nPick up the tissue box\nPick up the toy bear\nPlace the water bottle\nPlace the bread\nPlace the pink cup\nPlace the lemon\nPlace the lemon on the orange round plate\nPlace the tissue box\nPlace the toy bear", "sub_tasks": [ "Grasp the tissue box and lift it to the center of the view with both gripper", "End", "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.ego_view", "name": "ego_view", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.ego_view", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channel" ] } ], "state": { "dtype": "float32", "shape": [ 30 ], "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_space": { "dtype": "float32", "shape": [ 30 ], "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "G1edu-u3_pick_up_the_tissue_box_ao_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.ego_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "pick_up_the_tissue_box_ao", "dataset_uuid": null, "task_descriptions": [ "pick up the tissue box on the table." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "tissue", "level1": "daily_supplies", "level2": "tissue", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "unitree_g1" ], "end_effector_type": "three_finger_hand" } }, "Split_aloha_basket_storage_orange": { "dataset_name": "basket_storage_orange", "dataset_uuid": "f478bc5f-0850-4241-9c9b-cea1674f8e67", "scene_type": [ "home", "kitchen" ], "atomic_actions": [ "grasp", "place", "pick" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "orange", "level1": "fruit", "level2": "orange", "level3": null, "level4": null, "level5": null }, { "object_name": "basket", "level1": "container", "level2": "basket", "level3": null, "level4": null, "level5": null } ], "path": "Split_aloha_basket_storage_orange", "video_url": "./assets/videos/Split_aloha_basket_storage_orange.mp4", "thumbnail_url": "./assets/thumbnails/Split_aloha_basket_storage_orange.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "6.1GB", "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": "Split_aloha", "codebase_version": "v2.1", "statistics": { "total_episodes": 642, "total_frames": 293847, "total_tasks": 1, "total_videos": 1926, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:641" }, "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.state": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "action": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "timestamp": { "dtype": "float32", "shape": [ 1 ], "names": null }, "frame_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "episode_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "task_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "subtask_annotation": { "names": null, "dtype": "int32", "shape": [ 5 ] }, "scene_annotation": { "names": null, "dtype": "int32", "shape": [ 1 ] }, "eef_sim_pose_state": { "names": [ "left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_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 ] }, "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 ] }, "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 ] } }, "tasks": "pick up the orange and put it into the basket.", "sub_tasks": [ "Place the basket in the center of view with left gripper", "Place the orange in the basket with right gripper", "Grasp the orange with right gripper", "Grasp the basket with left gripper", "End", "Abnormal", "Static", "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 } ], "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" ] } ], "state": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] } }, "action_space": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Split_aloha_basket_storage_orange_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "basket_storage_orange", "dataset_uuid": null, "task_descriptions": [ "pick up the orange and put it into the basket.", "put the basket in the center of the table" ], "scene_type": [ "home", "kitchen" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "orange", "level1": "fruit", "level2": "orange", "level3": null, "level4": null, "level5": null }, { "object_name": "basket", "level1": "container", "level2": "basket", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "agilex_cobot_decoupled_magic" ], "end_effector_type": "two_finger_gripper" } }, "R1_Lite_build_blocks": { "dataset_name": "build_blocks", "dataset_uuid": "a56eff90-9eaa-4804-91c6-27e733d07c46", "scene_type": [ "home", "living_room" ], "atomic_actions": [ "grasp", "place", "pick" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "blocks", "level1": "toy", "level2": "blocks", "level3": null, "level4": null, "level5": null } ], "path": "R1_Lite_build_blocks", "video_url": "./assets/videos/R1_Lite_build_blocks.mp4", "thumbnail_url": "./assets/thumbnails/R1_Lite_build_blocks.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "1.8GB", "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": "R1_Lite", "codebase_version": "v2.1", "statistics": { "total_episodes": 66, "total_frames": 59296, "total_tasks": 1, "total_videos": 264, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:65" }, "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_left_rgb": { "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_right_rgb": { "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 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" ] }, "action": { "dtype": "float32", "shape": [ 18 ], "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 }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "place the arched building blocks in the center of the table, set up the rectangular building blocks, and then set up the triangular building blocks.", "sub_tasks": [ "Place the arch-shaped block in the center of view with the left gripper", "Grasp the arch-shaped block with the left gripper", "Place the triangle-shaped block onto the box-shaped block with the left grippe", "Grasp the box-shaped block with the right gripper", "Place the box-shaped block onto the arch-shaped block with the right gripper", "Static", "End", "Grasp the triangle-shaped block 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_left_rgb", "name": "cam_high_left_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_right_rgb", "name": "cam_high_right_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_left_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_right_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "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" ] } }, "action_space": { "dtype": "float32", "shape": [ 18 ], "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "R1_Lite_build_blocks_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_left_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_high_right_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "build_blocks", "dataset_uuid": null, "task_descriptions": [ "place the arched building blocks in the center of the table, set up the rectangular building blocks, and then set up the triangular building blocks." ], "scene_type": [ "home", "living_room" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "blocks", "level1": "toy", "level2": "blocks", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "galaxea_r1_lite" ], "end_effector_type": "two_finger_gripper" } }, "G1edu-u3_pick_empty_bottle_ab": { "dataset_name": "pick_empty_bottle_ab", "dataset_uuid": "e8eb32c9-9e05-4189-9718-badce6a3ac0b", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick" ], "end_effector_type": [ "three_finger_hand" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "empty_bottle", "level1": "rubbish", "level2": "empty_bottle", "level3": null, "level4": null, "level5": null } ], "path": "G1edu-u3_pick_empty_bottle_ab", "video_url": "./assets/videos/G1edu-u3_pick_empty_bottle_ab.mp4", "thumbnail_url": "./assets/thumbnails/G1edu-u3_pick_empty_bottle_ab.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "1K-10K", "dataset_size": "45.4MB", "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": "G1edu-u3", "codebase_version": "v2.1", "statistics": { "total_episodes": 11, "total_frames": 3290, "total_tasks": 1, "total_videos": 11, "total_chunks": 1, "chunks_size": 11, "fps": 30 }, "splits": { "train": "0:10" }, "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.ego_view": { "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.state": { "dtype": "float32", "shape": [ 30 ], "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": [ 30 ], "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": "float64", "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": "Pick up the crumpled paper\nPick up the empty bottle\nPick up the leftover food\nPick up the metal bowl\nPick up the metal bowl\nPick up the plastic bowl\nPick up the plastic bowl\nPlace the metal bowl\nPlace the metal bowl\nPlace the plastic bowl\nPlace the plastic bowl", "sub_tasks": [ "End", "Grasp the cola bottle and lift it to the center of the view with right gripper ", "Grasp the cola bottle and lift it to the center of the view with left gripper  ", "Abnormal", "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.ego_view", "name": "ego_view", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.ego_view", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channel" ] } ], "state": { "dtype": "float32", "shape": [ 30 ], "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_space": { "dtype": "float32", "shape": [ 30 ], "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "G1edu-u3_pick_empty_bottle_ab_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.ego_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "pick_empty_bottle_ab", "dataset_uuid": null, "task_descriptions": [ "pick up the empty bottle on the table." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "empty_bottle", "level1": "rubbish", "level2": "empty_bottle", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "unitree_g1" ], "end_effector_type": "three_finger_hand" } }, "R1_Lite_open_and_close_microwave_oven": { "dataset_name": "open_and_close_microwave_oven", "dataset_uuid": "1b797b37-4aab-43be-9f02-cfcf030be8ff", "scene_type": [ "home", "restaurant" ], "atomic_actions": [ "grasp", "pick", "place", "push", "pull", "pressbutton" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "french_fries", "level1": "food", "level2": "french_fries", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "microwave", "level1": "electric_appliance", "level2": "microwave", "level3": null, "level4": null, "level5": null } ], "path": "R1_Lite_open_and_close_microwave_oven", "video_url": "./assets/videos/R1_Lite_open_and_close_microwave_oven.mp4", "thumbnail_url": "./assets/thumbnails/R1_Lite_open_and_close_microwave_oven.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "7.7GB", "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": "R1_Lite", "codebase_version": "v2.1", "statistics": { "total_episodes": 117, "total_frames": 183612, "total_tasks": 1, "total_videos": 351, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:116" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "put fries plate in microwave turn on then take out and close.", "sub_tasks": [ "Put the microwave back in its original place", "Take the plate out of the microwave", "Close the microwave oven", "Open the microwave oven", "Put the plate in the microwave oven", "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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "R1_Lite_open_and_close_microwave_oven_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "heating food", "dataset_uuid": null, "task_descriptions": [ "turn on the microwave, put the fries in, turn off the microwave, turn on the microwave, take out the fries, and turn off the microwave." ], "scene_type": [ "home", "restaurant" ], "atomic_actions": [ "grasp", "pick", "place", "push", "pull", "pressbutton" ], "objects": [ { "object_name": "french_fries", "level1": "food", "level2": "french_fries", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "microwave", "level1": "electric_appliance", "level2": "microwave", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "galaxea_r1_lite" ], "end_effector_type": "two_finger_gripper" } }, "Cobot_Magic_pull_zipper": { "dataset_name": "pull_zipper", "dataset_uuid": "3ede76ea-63fb-4de1-a796-a3809b4e09fa", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pull" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "bag", "level1": "container", "level2": "bag", "level3": null, "level4": null, "level5": null } ], "path": "Cobot_Magic_pull_zipper", "video_url": "./assets/videos/Cobot_Magic_pull_zipper.mp4", "thumbnail_url": "./assets/thumbnails/Cobot_Magic_pull_zipper.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "11.0GB", "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": "Cobot_Magic", "codebase_version": "v2.1", "statistics": { "total_episodes": 1868, "total_frames": 836317, "total_tasks": 6, "total_videos": 5604, "total_chunks": 2, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:1867" }, "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.state": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "action": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "timestamp": { "dtype": "float32", "shape": [ 1 ], "names": null }, "frame_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "episode_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "task_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "subtask_annotation": { "names": null, "dtype": "int32", "shape": [ 5 ] }, "scene_annotation": { "names": null, "dtype": "int32", "shape": [ 1 ] }, "eef_sim_pose_state": { "names": [ "left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_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 ] }, "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 ] }, "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 ] } }, "tasks": "pull up zipper of the bag.\npull up zipper of the black bag.\npull open zipper of the black bag.\npull up zipper of the white bag.\npull up zipper of the yellow bag.\npull open zipper of the yellow bag.", "sub_tasks": [ "Pull the zipper with right gripper", "Pull open the zipper with your left hand.", "Grasp the bag with left gripper", "Hold the bag with your right hand.", "End", "Zip up the bag with your left hand.", "Zip up the bag with your right hand.", "Grasp the bag with right gripper", "Pull the zipper with left gripper", "Grab the zipper with your left hand.", "Discard.", "Pull open the zipper with your right hand.", "Hold the bag with your left hand.", "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 } ], "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" ] } ], "state": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] } }, "action_space": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Cobot_Magic_pull_zipper_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│ └── chunk-001/\n│ ├── episode_001000.parquet\n│ ├── episode_001001.parquet\n│ ├── episode_001002.parquet\n│ ├── episode_001003.parquet\n│ ├── episode_001004.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 └── chunk-001/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_001000.mp4\n ├── episode_001001.mp4\n ├── episode_001002.mp4\n ├── episode_001003.mp4\n ├── episode_001004.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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "pull_zipper", "dataset_uuid": null, "task_descriptions": [ "pull up zipper of the bag.", "pull up zipper of the black bag.", "pull open zipper of the black bag.", "pull up zipper of the white bag.", "pull up zipper of the yellow bag.", "pull open zipper of the yellow bag." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pull" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "bag", "level1": "container", "level2": "bag", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "device_model:- agilex_cobot_decoupled_magic" ], "end_effector_type": "two_finger_gripper" } }, "G1edu-u3_pullBowl_storage_bread_unordered_b": { "dataset_name": "pullBowl_storage_bread_unordered_b", "dataset_uuid": "11ed8a7f-106a-4c08-98a4-0abdd1b97a50", "scene_type": [ "home", "kitchen" ], "atomic_actions": [ "grasp", "pick", "receive", "place" ], "end_effector_type": [ "five_finger_hand", "three_finger_hand" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "faucet", "level1": "tool", "level2": "faucet", "level3": null, "level4": null, "level5": null }, { "object_name": "cup", "level1": "container", "level2": "cup", "level3": null, "level4": null, "level5": null }, { "object_name": "orange_juice", "level1": "drink", "level2": "orange_juice", "level3": null, "level4": null, "level5": null }, { "object_name": "cola", "level1": "drink", "level2": "cola", "level3": null, "level4": null, "level5": null }, { "object_name": "sprite", "level1": "drink", "level2": "sprite", "level3": null, "level4": null, "level5": null } ], "path": "G1edu-u3_pullBowl_storage_bread_unordered_b", "video_url": "./assets/videos/G1edu-u3_pullBowl_storage_bread_unordered_b.mp4", "thumbnail_url": "./assets/thumbnails/G1edu-u3_pullBowl_storage_bread_unordered_b.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "2.3GB", "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": "G1edu-u3", "codebase_version": "v2.1", "statistics": { "total_episodes": 190, "total_frames": 118843, "total_tasks": 1, "total_videos": 570, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:189" }, "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.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_left_high": { "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 }, "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": "Push the bowl to the center of the table and put the bread into the bowl.", "sub_tasks": [ "Abnormal", "Place the long bread in pink bowl with left hand", "End", "Grasp the round bread with left hand", "Grasp the long bread with left hand", "Place the round bread in pink bowl with left hand", "Move the pink bowl to the center of table with right hand", "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_left_high", "name": "cam_left_high", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist", "name": "cam_left_wrist", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist", "name": "cam_right_wrist", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_left_high", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channel" ] }, { "key": "observation.images.cam_left_wrist", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channel" ] }, { "key": "observation.images.cam_right_wrist", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channel" ] } ], "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_space": { "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "G1edu-u3_pullBowl_storage_bread_unordered_b_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_left_high/\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/\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/\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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "pullBowl_storage_bread_unordered_b", "dataset_uuid": null, "task_descriptions": [ "place the cup under the faucet to collect the cola, remove the cup.", "place the cup under the faucet to collect the orange juice, remove the cup.", "place the cup under the faucet to collect the sprite, remove the cup.", "the left hand pick up the cup from the table.", "the right hand pick up the cup from the table." ], "scene_type": [ "home", "kitchen" ], "atomic_actions": [ "grasp", "pick", "receive", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "faucet", "level1": "tool", "level2": "faucet", "level3": null, "level4": null, "level5": null }, { "object_name": "cup", "level1": "container", "level2": "cup", "level3": null, "level4": null, "level5": null }, { "object_name": "orange_juice", "level1": "drink", "level2": "orange_juice", "level3": null, "level4": null, "level5": null }, { "object_name": "cola", "level1": "drink", "level2": "cola", "level3": null, "level4": null, "level5": null }, { "object_name": "sprite", "level1": "drink", "level2": "sprite", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "unitree_g1" ], "end_effector_type": [ "five_finger_hand", "three_finger_hand" ] } }, "AIRBOT_MMK2_place_the_cake": { "dataset_name": "place_the_cake", "dataset_uuid": "9dd9223d-2d05-47a8-bfd0-0884a7f571ed", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "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": "cake", "level1": "food", "level2": "cake", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "building_blocks", "level1": "toy", "level2": "building_blocks", "level3": null, "level4": null, "level5": null }, { "object_name": "ice_cream", "level1": "food", "level2": "ice_cream", "level3": null, "level4": null, "level5": null }, { "object_name": "small_basin", "level1": "container", "level2": "small_basin", "level3": null, "level4": null, "level5": null }, { "object_name": "lid", "level1": "container", "level2": "lid", "level3": null, "level4": null, "level5": null }, { "object_name": "swiss_roll", "level1": "food", "level2": "swiss_roll", "level3": null, "level4": null, "level5": null } ], "path": "AIRBOT_MMK2_place_the_cake", "video_url": "./assets/videos/AIRBOT_MMK2_place_the_cake.mp4", "thumbnail_url": "./assets/thumbnails/AIRBOT_MMK2_place_the_cake.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "2.3GB", "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": 249, "total_frames": 50001, "total_tasks": 5, "total_videos": 996, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:248" }, "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": "Pick up one cake from the table and place it on the yellow cube, then pick up another cake from the table and place it on the blue cube.\nPick up one cake from the table and put it in the white lid, then pick up the ice cream from the table and put it in the white lid, and finally pick up another cake from the table and put it in the white lid.\nPick up the cake and place it on the plate, then pick up that cake from the plate and put it back on the table.\nPick up one ice cream and put it in the small white basin, then pick up another ice cream and put it in the small white basin.\nPick up one swiss roll and put it on the plate, then pick up another swiss roll and put it on the plate.", "sub_tasks": [ "Place the cake on the yellow cube block with the left gripper", "Grasp the bagged cake with the left gripper", "Grasp the cake on the plate with the right gripper", "Place the cake on the table with the right gripper", "Abnormal", "Static", "Grasp the cake with the left gripper", "Place the ice cream into the white basket with the right gripper", "Place the cake into the white basket with the left gripper", "Place the ice cream into the white basket with the left gripper", "Grasp the ice cream with the right gripper", "Grasp the ice cream with the left gripper", "Grasp the bagged cake with the right gripper", "Place the cake into the white plate with the left gripper", "Place the bagged cake on the white plate with the left gripper", "End", "Grasp the cake with the right gripper", "Place the bagged cake on the white plate with the right gripper", "Place the cake on the blue cube block with the right 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_place_the_cake_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "snack_storage", "dataset_uuid": null, "task_descriptions": [ "pick up the cake with your left hand and place it on the plate, then pick up the cake from the plate with your right hand and put it on the table.", "pick up the cake on the table with your left hand and place it on the yellow cube, and then pick up another cake on the table with your right hand and place it on the blue cube.", "pick up the ice cream with your left hand and put it in the small white basin. then, pick up another ice cream with your right hand and put it in the small white basin.", "pick up the cake on the table with your left hand and put it in the white lid. then, pick up the ice cream on the table with your right hand and put it in the white lid. foodinally, pick up another cake on the table with your left hand and put it in the white lid.", "pick up the swiss roll with your left hand and put it on the plate, then pick up another swiss roll with your right hand and put it on the plate." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "cake", "level1": "food", "level2": "cake", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "building_blocks", "level1": "toy", "level2": "building_blocks", "level3": null, "level4": null, "level5": null }, { "object_name": "ice_cream", "level1": "food", "level2": "ice_cream", "level3": null, "level4": null, "level5": null }, { "object_name": "small_basin", "level1": "container", "level2": "small_basin", "level3": null, "level4": null, "level5": null }, { "object_name": "lid", "level1": "container", "level2": "lid", "level3": null, "level4": null, "level5": null }, { "object_name": "swiss_roll", "level1": "food", "level2": "swiss_roll", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "airbot mmk2" ], "end_effector_type": "five_finger_hand" } }, "Split_aloha_pour_rice": { "dataset_name": "pour_rice", "dataset_uuid": "004a37ce-a00a-4547-a5a0-0538af2c8a99", "scene_type": [ "home", "kitchen" ], "atomic_actions": [ "place", "pick", "grasp", "pour" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "rice", "level1": "food", "level2": "rice", "level3": null, "level4": null, "level5": null }, { "object_name": "rice_container", "level1": "container", "level2": "rice_container", "level3": null, "level4": null, "level5": null }, { "object_name": "cup", "level1": "container", "level2": "cup", "level3": null, "level4": null, "level5": null } ], "path": "Split_aloha_pour_rice", "video_url": "./assets/videos/Split_aloha_pour_rice.mp4", "thumbnail_url": "./assets/thumbnails/Split_aloha_pour_rice.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "4.9GB", "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": "Split_aloha", "codebase_version": "v2.1", "statistics": { "total_episodes": 740, "total_frames": 504182, "total_tasks": 1, "total_videos": 2220, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:739" }, "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.state": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "action": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "timestamp": { "dtype": "float32", "shape": [ 1 ], "names": null }, "frame_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "episode_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "task_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "subtask_annotation": { "names": null, "dtype": "int32", "shape": [ 5 ] }, "scene_annotation": { "names": null, "dtype": "int32", "shape": [ 1 ] }, "eef_sim_pose_state": { "names": [ "left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_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 ] }, "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 ] }, "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 ] } }, "tasks": "the right gripper grasp the rice container and place it in the center of the table, the left gripper grasp the rice scoop and pour the rice into the rice container.", "sub_tasks": [ "Grasp the cup with rice in it with left gripper", "Place the bowl in the center of view with the right gripper", "End", "Place the cup on the table with the left gripper", "Static", "Pick up the bowl with the right gripper", "Abnormal", "Move the bowl in the center of view with right gripper", "Move the bowl to the center of view with the right gripper", "Pick up the cup with rice in it with the left gripper", "Pour the rice from the cup into the bowl 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 } ], "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" ] } ], "state": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] } }, "action_space": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Split_aloha_pour_rice_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "pour_rice", "dataset_uuid": null, "task_descriptions": [ "the right gripper grasp the rice container and place it in the center of the table, the left gripper grasp the cup and pour the rice into the rice container." ], "scene_type": [ "home", "kitchen" ], "atomic_actions": [ "place", "pick", "grasp", "pour" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "rice", "level1": "food", "level2": "rice", "level3": null, "level4": null, "level5": null }, { "object_name": "rice_container", "level1": "container", "level2": "rice_container", "level3": null, "level4": null, "level5": null }, { "object_name": "cup", "level1": "container", "level2": "cup", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "agilex_cobot_decoupled_magic" ], "end_effector_type": "two_finger_gripper" } }, "R1_Lite_move_the_position_of_the_coffee_capsule": { "dataset_name": "move_the_position_of_the_coffee_capsule", "dataset_uuid": "b0f7658f-e170-4911-afdf-9af621bfa0fe", "scene_type": [ "home" ], "atomic_actions": [ "place", "pick", "grasp" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "pen", "level1": "office_supplies", "level2": "pen", "level3": null, "level4": null, "level5": null }, { "object_name": "banana", "level1": "fruit", "level2": "banana", "level3": null, "level4": null, "level5": null }, { "object_name": "bath_ball", "level1": "daily_necessities", "level2": "bath_ball", "level3": null, "level4": null, "level5": null }, { "object_name": "bowl", "level1": "container", "level2": "bowl", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "can", "level1": "container", "level2": "can", "level3": null, "level4": null, "level5": null }, { "object_name": "eraser", "level1": "office_supplies", "level2": "eraser", "level3": null, "level4": null, "level5": null }, { "object_name": "hard_cleanser", "level1": "daily_necessities", "level2": "hard_cleanser", "level3": null, "level4": null, "level5": null }, { "object_name": "long_bread", "level1": "food", "level2": "long_bread", "level3": null, "level4": null, "level5": null }, { "object_name": "peeler", "level1": "tool", "level2": "peeler", "level3": null, "level4": null, "level5": null }, { "object_name": "block", "level1": "toy", "level2": "block", "level3": null, "level4": null, "level5": null }, { "object_name": "duck", "level1": "toy", "level2": "duck", "level3": null, "level4": null, "level5": null }, { "object_name": "soap", "level1": "daily_necessities", "level2": "soap", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "basket", "level1": "container", "level2": "basket", "level3": null, "level4": null, "level5": null }, { "object_name": "cola", "level1": "drink", "level2": "cola", "level3": null, "level4": null, "level5": null }, { "object_name": "detergent", "level1": "daily_necessities", "level2": "detergent", "level3": null, "level4": null, "level5": null }, { "object_name": "egg_beater", "level1": "electrical_appliances", "level2": "egg_beater", "level3": null, "level4": null, "level5": null }, { "object_name": "towel", "level1": "clothing", "level2": "towel", "level3": null, "level4": null, "level5": null }, { "object_name": "orange", "level1": "fruit", "level2": "orange", "level3": null, "level4": null, "level5": null }, { "object_name": "peach", "level1": "fruit", "level2": "peach", "level3": null, "level4": null, "level5": null }, { "object_name": "marker", "level1": "office_supplies", "level2": "marker", "level3": null, "level4": null, "level5": null }, { "object_name": "rubiks_cube", "level1": "toy", "level2": "rubiks_cube", "level3": null, "level4": null, "level5": null }, { "object_name": "bread_slice", "level1": "food", "level2": "bread_slice", "level3": null, "level4": null, "level5": null }, { "object_name": "brush", "level1": "daily_necessities", "level2": "brush", "level3": null, "level4": null, "level5": null }, { "object_name": "yogurt", "level1": "drink", "level2": "yogurt", "level3": null, "level4": null, "level5": null }, { "object_name": "power_strip", "level1": "electric_appliance", "level2": "power_strip", "level3": null, "level4": null, "level5": null }, { "object_name": "milk", "level1": "drink", "level2": "milk", "level3": null, "level4": null, "level5": null }, { "object_name": "soda", "level1": "drink", "level2": "soda", "level3": null, "level4": null, "level5": null }, { "object_name": "lime", "level1": "fruit", "level2": "lime", "level3": null, "level4": null, "level5": null }, { "object_name": "coffee_capsule", "level1": "drink", "level2": "coffee_capsule", "level3": null, "level4": null, "level5": null }, { "object_name": "dish", "level1": "container", "level2": "dish", "level3": null, "level4": null, "level5": null }, { "object_name": "glass", "level1": "furniture", "level2": "glass", "level3": null, "level4": null, "level5": null }, { "object_name": "egg_yolk_pastry", "level1": "food", "level2": "egg_yolk_pastry", "level3": null, "level4": null, "level5": null }, { "object_name": "glasses_case", "level1": "daily_necessities", "level2": "glasses_case", "level3": null, "level4": null, "level5": null }, { "object_name": "gum", "level1": "daily_necessities", "level2": "gum", "level3": null, "level4": null, "level5": null }, { "object_name": "tape", "level1": "daily_necessities", "level2": "tape", "level3": null, "level4": null, "level5": null }, { "object_name": "soft_cleanser", "level1": "daily_necessities", "level2": "soft_cleanser", "level3": null, "level4": null, "level5": null }, { "object_name": "chips", "level1": "food", "level2": "chips", "level3": null, "level4": null, "level5": null }, { "object_name": "chocolate", "level1": "food", "level2": "chocolate", "level3": null, "level4": null, "level5": null }, { "object_name": "cookie", "level1": "food", "level2": "cookie", "level3": null, "level4": null, "level5": null }, { "object_name": "spoon", "level1": "tableware", "level2": "spoon", "level3": null, "level4": null, "level5": null } ], "path": "R1_Lite_move_the_position_of_the_coffee_capsule", "video_url": "./assets/videos/R1_Lite_move_the_position_of_the_coffee_capsule.mp4", "thumbnail_url": "./assets/thumbnails/R1_Lite_move_the_position_of_the_coffee_capsule.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "500.1MB", "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": "R1_Lite", "codebase_version": "v2.1", "statistics": { "total_episodes": 58, "total_frames": 14334, "total_tasks": 1, "total_videos": 232, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:57" }, "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_left_rgb": { "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_right_rgb": { "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 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" ] }, "action": { "dtype": "float32", "shape": [ 18 ], "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 }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "put the coffee capsulein the designated position.", "sub_tasks": [ "End", "Grasp the coffee capsule with left gripper", "Place the coffee capsule on the table with right gripper", "Grasp the coffee capsule with right gripper", "Static", "Place the coffee capsule on the table with 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_left_rgb", "name": "cam_high_left_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_right_rgb", "name": "cam_high_right_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_left_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_right_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "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" ] } }, "action_space": { "dtype": "float32", "shape": [ 18 ], "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "R1_Lite_move_the_position_of_the_coffee_capsule_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_left_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_high_right_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "move_the_position_of_the_coffee_capsule", "dataset_uuid": null, "task_descriptions": [ "put the coffee capsulein the designated position." ], "scene_type": [ "home" ], "atomic_actions": [ "place", "pick", "grasp" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "pen", "level1": "office_supplies", "level2": "pen", "level3": null, "level4": null, "level5": null }, { "object_name": "banana", "level1": "fruit", "level2": "banana", "level3": null, "level4": null, "level5": null }, { "object_name": "bath_ball", "level1": "daily_necessities", "level2": "bath_ball", "level3": null, "level4": null, "level5": null }, { "object_name": "bowl", "level1": "container", "level2": "bowl", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "can", "level1": "container", "level2": "can", "level3": null, "level4": null, "level5": null }, { "object_name": "eraser", "level1": "office_supplies", "level2": "eraser", "level3": null, "level4": null, "level5": null }, { "object_name": "hard_cleanser", "level1": "daily_necessities", "level2": "hard_cleanser", "level3": null, "level4": null, "level5": null }, { "object_name": "long_bread", "level1": "food", "level2": "long_bread", "level3": null, "level4": null, "level5": null }, { "object_name": "peeler", "level1": "tool", "level2": "peeler", "level3": null, "level4": null, "level5": null }, { "object_name": "block", "level1": "toy", "level2": "block", "level3": null, "level4": null, "level5": null }, { "object_name": "duck", "level1": "toy", "level2": "duck", "level3": null, "level4": null, "level5": null }, { "object_name": "soap", "level1": "daily_necessities", "level2": "soap", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "basket", "level1": "container", "level2": "basket", "level3": null, "level4": null, "level5": null }, { "object_name": "cola", "level1": "drink", "level2": "cola", "level3": null, "level4": null, "level5": null }, { "object_name": "detergent", "level1": "daily_necessities", "level2": "detergent", "level3": null, "level4": null, "level5": null }, { "object_name": "egg_beater", "level1": "electrical_appliances", "level2": "egg_beater", "level3": null, "level4": null, "level5": null }, { "object_name": "towel", "level1": "clothing", "level2": "towel", "level3": null, "level4": null, "level5": null }, { "object_name": "orange", "level1": "fruit", "level2": "orange", "level3": null, "level4": null, "level5": null }, { "object_name": "peach", "level1": "fruit", "level2": "peach", "level3": null, "level4": null, "level5": null }, { "object_name": "marker", "level1": "office_supplies", "level2": "marker", "level3": null, "level4": null, "level5": null }, { "object_name": "rubiks_cube", "level1": "toy", "level2": "rubiks_cube", "level3": null, "level4": null, "level5": null }, { "object_name": "bread_slice", "level1": "food", "level2": "bread_slice", "level3": null, "level4": null, "level5": null }, { "object_name": "brush", "level1": "daily_necessities", "level2": "brush", "level3": null, "level4": null, "level5": null }, { "object_name": "yogurt", "level1": "drink", "level2": "yogurt", "level3": null, "level4": null, "level5": null }, { "object_name": "power_strip", "level1": "electric_appliance", "level2": "power_strip", "level3": null, "level4": null, "level5": null }, { "object_name": "milk", "level1": "drink", "level2": "milk", "level3": null, "level4": null, "level5": null }, { "object_name": "soda", "level1": "drink", "level2": "soda", "level3": null, "level4": null, "level5": null }, { "object_name": "lime", "level1": "fruit", "level2": "lime", "level3": null, "level4": null, "level5": null }, { "object_name": "coffee_capsule", "level1": "drink", "level2": "coffee_capsule", "level3": null, "level4": null, "level5": null }, { "object_name": "dish", "level1": "container", "level2": "dish", "level3": null, "level4": null, "level5": null }, { "object_name": "glass", "level1": "furniture", "level2": "glass", "level3": null, "level4": null, "level5": null }, { "object_name": "egg_yolk_pastry", "level1": "food", "level2": "egg_yolk_pastry", "level3": null, "level4": null, "level5": null }, { "object_name": "glasses_case", "level1": "daily_necessities", "level2": "glasses_case", "level3": null, "level4": null, "level5": null }, { "object_name": "gum", "level1": "daily_necessities", "level2": "gum", "level3": null, "level4": null, "level5": null }, { "object_name": "tape", "level1": "daily_necessities", "level2": "tape", "level3": null, "level4": null, "level5": null }, { "object_name": "soft_cleanser", "level1": "daily_necessities", "level2": "soft_cleanser", "level3": null, "level4": null, "level5": null }, { "object_name": "chips", "level1": "food", "level2": "chips", "level3": null, "level4": null, "level5": null }, { "object_name": "chocolate", "level1": "food", "level2": "chocolate", "level3": null, "level4": null, "level5": null }, { "object_name": "cookie", "level1": "food", "level2": "cookie", "level3": null, "level4": null, "level5": null }, { "object_name": "spoon", "level1": "tableware", "level2": "spoon", "level3": null, "level4": null, "level5": null } ], "device_model": [ "galaxea_r1_lite" ], "end_effector_type": "two_finger_gripper", "operation_platform_height": 77.2 } }, "AIRBOT_MMK2_push_piston": { "dataset_name": "push_piston", "dataset_uuid": "eef01bf4-6600-4121-9501-b7651d8e26c5", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "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": "syringe", "level1": "medical_supplies", "level2": "syringe", "level3": null, "level4": null, "level5": null } ], "path": "AIRBOT_MMK2_push_piston", "video_url": "./assets/videos/AIRBOT_MMK2_push_piston.mp4", "thumbnail_url": "./assets/thumbnails/AIRBOT_MMK2_push_piston.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "598.3MB", "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": 47, "total_frames": 15278, "total_tasks": 1, "total_videos": 188, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:46" }, "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": "Pick up the syringe with your left hand and push the syringe piston in with your right hand.", "sub_tasks": [ "Static", "Push the piston with the right gripper", "End", "Grasp the syringe with the left gripper", "Grasp the piston with the right gripper", "Place the syringe on the table with the left gripper", "Lift the syringe 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_push_piston_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "push_piston", "dataset_uuid": null, "task_descriptions": [ "hold the syringe on the table with your left hand and push the plunger with your right hand." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "syringe", "level1": "medical_supplies", "level2": "syringe", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "discover_robotics_aitbot_mmk2" ], "end_effector_type": "two_finger_gripper" } }, "R1_Lite_clean_the_sink": { "dataset_name": "clean_the_sink", "dataset_uuid": "d29e439c-d1a9-41e5-ab2b-e264195dda27", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place", "open", "wipe", "close" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "washbasin", "level1": "container", "level2": "washbasin", "level3": null, "level4": null, "level5": null }, { "object_name": "faucet", "level1": "tool", "level2": "faucet", "level3": null, "level4": null, "level5": null }, { "object_name": "rag", "level1": "clothing", "level2": "rag", "level3": null, "level4": null, "level5": null } ], "path": "R1_Lite_clean_the_sink", "video_url": "./assets/videos/R1_Lite_clean_the_sink.mp4", "thumbnail_url": "./assets/thumbnails/R1_Lite_clean_the_sink.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "3.8GB", "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": "R1_Lite", "codebase_version": "v2.1", "statistics": { "total_episodes": 120, "total_frames": 104391, "total_tasks": 1, "total_videos": 360, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:119" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "turn on faucet off wipe washbasin place rag beside it.", "sub_tasks": [ "Pick up the cloth", "Turn on the faucet", "Wipe the sink", "Turn off the faucet", "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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "R1_Lite_clean_the_sink_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "clean_the_sink", "dataset_uuid": null, "task_descriptions": [ "turn on the faucet, turn off the faucet, wipe the washbasin clean, and place a cloth next to it.." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place", "open", "wipe", "close" ], "objects": [ { "object_name": "washbasin", "level1": "container", "level2": "washbasin", "level3": null, "level4": null, "level5": null }, { "object_name": "faucet", "level1": "tool", "level2": "faucet", "level3": null, "level4": null, "level5": null }, { "object_name": "rag", "level1": "clothing", "level2": "rag", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "galaxea_r1_lite" ], "end_effector_type": "two_finger_gripper" } }, "Tianqin_A2_box_storage_part": { "dataset_name": "box_storage_part", "dataset_uuid": "7a1de37c-d8b0-476a-b503-99a0fd93cafd", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "data_cable", "level1": "accessories", "level2": "data_cable", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null } ], "path": "Tianqin_A2_box_storage_part", "video_url": "./assets/videos/Tianqin_A2_box_storage_part.mp4", "thumbnail_url": "./assets/thumbnails/Tianqin_A2_box_storage_part.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "25.6GB", "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": "Tianqin_A2", "codebase_version": "v2.1", "statistics": { "total_episodes": 1104, "total_frames": 681531, "total_tasks": 1, "total_videos": 3312, "total_chunks": 2, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:1103" }, "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.state": { "dtype": "float32", "shape": [ 17 ], "names": [ "robot_joint_3_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", "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" ] }, "action": { "dtype": "float32", "shape": [ 17 ], "names": [ "robot_joint_3_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", "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 }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "take the parts from the box containing them and put them into an empty box.", "sub_tasks": [ "Place the data cable in the another box", "Abnormal", "Grasp the data cable", "End", "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 } ], "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" ] } ], "state": { "dtype": "float32", "shape": [ 17 ], "names": [ "robot_joint_3_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", "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" ] } }, "action_space": { "dtype": "float32", "shape": [ 17 ], "names": [ "robot_joint_3_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", "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Tianqin_A2_box_storage_part_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│ └── chunk-001/\n│ ├── episode_001000.parquet\n│ ├── episode_001001.parquet\n│ ├── episode_001002.parquet\n│ ├── episode_001003.parquet\n│ ├── episode_001004.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 └── chunk-001/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_001000.mp4\n ├── episode_001001.mp4\n ├── episode_001002.mp4\n ├── episode_001003.mp4\n ├── episode_001004.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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "Storage_data_cable", "dataset_uuid": null, "task_descriptions": [ "Put the data cable from the box into another box." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "data_cable", "level1": "accessories", "level2": "data_cable", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null } ], "-operation_platform_height": null, "device_model": [ "tianqing_a2" ], "end_effector_type": "two_finger_gripper" } }, "Cobot_Magic_food_packaging": { "dataset_name": "food_packaging", "dataset_uuid": "d6b80e23-6bac-471f-a759-a475112b145d", "scene_type": [ "kitchen" ], "atomic_actions": [ "grasp", "pull", "place", "pick" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "lunch_box", "level1": "container", "level2": "lunch_box", "level3": null, "level4": null, "level5": null }, { "object_name": "banana", "level1": "fruit", "level2": "banana", "level3": null, "level4": null, "level5": null }, { "object_name": "bread", "level1": "food", "level2": "bread", "level3": null, "level4": null, "level5": null }, { "object_name": "pear", "level1": "fruit", "level2": "pear", "level3": null, "level4": null, "level5": null }, { "object_name": "cucumber", "level1": "vegetable", "level2": "cucumber", "level3": null, "level4": null, "level5": null }, { "object_name": "bag", "level1": "container", "level2": "bag", "level3": null, "level4": null, "level5": null }, { "object_name": "lemon", "level1": "fruit", "level2": "lemon", "level3": null, "level4": null, "level5": null } ], "path": "Cobot_Magic_food_packaging", "video_url": "./assets/videos/Cobot_Magic_food_packaging.mp4", "thumbnail_url": "./assets/thumbnails/Cobot_Magic_food_packaging.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "1M-10M", "dataset_size": "25.2GB", "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": "Cobot_Magic", "codebase_version": "v2.1", "statistics": { "total_episodes": 842, "total_frames": 1492934, "total_tasks": 2, "total_videos": 2526, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:841" }, "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.state": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "action": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "timestamp": { "dtype": "float32", "shape": [ 1 ], "names": null }, "frame_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "episode_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "task_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "subtask_annotation": { "names": null, "dtype": "int32", "shape": [ 5 ] }, "scene_annotation": { "names": null, "dtype": "int32", "shape": [ 1 ] }, "eef_sim_pose_state": { "names": [ "left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_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 ] }, "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 ] }, "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 ] } }, "tasks": "Put the items on the table into a bag.\nPut the items on the table into a bag.", "sub_tasks": [ "Pick up the bread", "Grab the lunch box with your right hand.", "zip up the zipper to close the bag", "Grab the cucumber with your right hand.", "Hold the package and Pick up the bread", "Pull the zipper with your right hand.", "Pick up the pear", "Place the cucumber into the package with the right gripper", "Place the bread into the package", "Grasp the package with the left gripper", "Secure the lunch bag with your left hand.", "Place the cucumber into the package", "Grab the pear with your right hand.", "End", "Abnormal", "Place the pear into the package", "Grasp the banana with the right gripper", "Take the lunch box with your right hand.", "Move the lunch bag to the left.", "Grab the lunch bag with your right hand.", "Grab the lemon with your right hand.", "Place the banana into the package", "Hold the package and Pick up the box", "Grasp the pear with the right gripper", "Hold the package and Pick up the banana", "Place the banana into the package with the right gripper", "Grasp the cucumber with the right gripper", "Pick up the banana", "Place it into the bag with your right hand.", "Hold the package and Pick up the cucumber", "Pick up the cucumber", "Place the lemon into the package with the right gripper", "Grab the lunch box with your left hand.", "Pick up the box", "Stand the lunch bag upright with your right hand.", "Move the lunch bag to the right.", "Grab the lunch bag with your left hand.", "Grasp the lemon with the right gripper", "Hold the package and Pick up the pear", "Discard it.", "Place the box into the package", "Lift the lunch box with your left hand.", "Stand the lunch bag upright with your left hand.", "Grab the banana with your right hand.", "Grasp the box with the right gripper", "Place the box into the package with the right gripper", "Grab the bread with your right hand.", "Place the pear into the package with the right 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 } ], "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" ] } ], "state": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] } }, "action_space": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Cobot_Magic_food_packaging_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "food_packaging", "dataset_uuid": null, "task_descriptions": [ "place lunch box,banana and bread into big packaging bag.", "place lunch box,cucumber and pear into small packaging bag.", "put the lunch box,banana and pear into the bag.", "put the lunch box,cucumber and lemon into the bag." ], "scene_type": [ "kitchen" ], "atomic_actions": [ "grasp", "pull", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "lunch_box", "level1": "container", "level2": "lunch_box", "level3": null, "level4": null, "level5": null }, { "object_name": "banana", "level1": "fruit", "level2": "banana", "level3": null, "level4": null, "level5": null }, { "object_name": "bread", "level1": "food", "level2": "bread", "level3": null, "level4": null, "level5": null }, { "object_name": "pear", "level1": "fruit", "level2": "pear", "level3": null, "level4": null, "level5": null }, { "object_name": "cucumber", "level1": "vegetable", "level2": "cucumber", "level3": null, "level4": null, "level5": null }, { "object_name": "bag", "level1": "container", "level2": "bag", "level3": null, "level4": null, "level5": null }, { "object_name": "lemon", "level1": "fruit", "level2": "lemon", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "agilex_cobot_magic_aloha" ], "end_effector_type": "two_finger_gripper" } }, "Split_aloha_zip_up_the_document_bag": { "dataset_name": "zip_up_the_document_bag", "dataset_uuid": "e06c5784-df23-4a4a-b86d-adc2bcf12bae", "scene_type": [ "office" ], "atomic_actions": [ "grasp", "pull", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "document_bag", "level1": "office_supplies", "level2": "document_bag", "level3": null, "level4": null, "level5": null } ], "path": "Split_aloha_zip_up_the_document_bag", "video_url": "./assets/videos/Split_aloha_zip_up_the_document_bag.mp4", "thumbnail_url": "./assets/thumbnails/Split_aloha_zip_up_the_document_bag.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "2.7GB", "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": "Split_aloha", "codebase_version": "v2.1", "statistics": { "total_episodes": 495, "total_frames": 234815, "total_tasks": 4, "total_videos": 1485, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:494" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_left_wrist_rgb": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_right_wrist_rgb": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.state": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "action": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "timestamp": { "dtype": "float32", "shape": [ 1 ], "names": null }, "frame_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "episode_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "task_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "subtask_annotation": { "names": null, "dtype": "int32", "shape": [ 5 ] }, "scene_annotation": { "names": null, "dtype": "int32", "shape": [ 1 ] }, "eef_sim_pose_state": { "names": [ "left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_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 ] }, "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 ] }, "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 ] } }, "tasks": "the left gripper grasp one corner of the bag, the right gripper pull the green zipper, the left gripper put down the bag.\nthe left gripper grasp one corner of the bag, the right gripper pull the red zipper, the left gripper put down the bag.\nthe right gripper grasp one corner of the bag, the left gripper pull the green zipper, the right gripper put down the bag.\nthe right gripper grasp one corner of the bag, the left gripper pull the red zipper, the right gripper put down the bag.", "sub_tasks": [ "Pulling up the zipper on the transparent plastic bag with the left gripper to close it", "Pulling up the zipper on the transparent plastic bag with the right gripper to close it", "Static", "End", "Pick up the transparent plastic bag with the left gripper", "Pick up the transparent plastic bag with the right gripper", "Place the transparent plastic bag", "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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "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 } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 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" ] } ], "state": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] } }, "action_space": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Split_aloha_zip_up_the_document_bag_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "zip_up_the_document_bag", "dataset_uuid": null, "task_descriptions": [ "the left gripper grasp one corner of the bag, the right gripper pull the green zipper, the left gripper put down the bag.", "the left gripper grasp one corner of the bag, the right gripper pull the red zipper, the left gripper put down the bag.", "the right gripper grasp one corner of the bag, the left gripper pull the green zipper, the right gripper put down the bag.", "the right gripper grasp one corner of the bag, the left gripper pull the red zipper, the right gripper put down the bag." ], "scene_type": [ "office" ], "atomic_actions": [ "grasp", "pull", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "document_bag", "level1": "office_supplies", "level2": "document_bag", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "agilex_cobot_decoupled_magic" ], "end_effector_type": "two_finger_gripper" } }, "AIRBOT_MMK2_store_wet_wipes_and_bowls": { "dataset_name": "store_wet_wipes_and_bowls", "dataset_uuid": "de8bf908-6d6b-42fb-9298-29fa21a3fc8d", "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": "bowl", "level1": "container", "level2": "bowl", "level3": null, "level4": null, "level5": null }, { "object_name": "wet_tissue", "level1": "daily_necessities", "level2": "wet_tissue", "level3": null, "level4": null, "level5": null }, { "object_name": "square_plate", "level1": "container", "level2": "square_plate", "level3": null, "level4": null, "level5": null } ], "path": "AIRBOT_MMK2_store_wet_wipes_and_bowls", "video_url": "./assets/videos/AIRBOT_MMK2_store_wet_wipes_and_bowls.mp4", "thumbnail_url": "./assets/thumbnails/AIRBOT_MMK2_store_wet_wipes_and_bowls.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "425.0MB", "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": 50, "total_frames": 13058, "total_tasks": 1, "total_videos": 200, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:49" }, "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": "Place the large blue bowl on the square plate with one hand and put the wet wipes into the bowl with the other.", "sub_tasks": [ "Place the bowl on the plate with the right gripper", "Static", "Grasp the wet wipes with the left gripper", "Grasp the bowl with the right gripper", "End", "Place the wet wipes into the bowl 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_store_wet_wipes_and_bowls_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "store_wet_wipes_and_bowls", "dataset_uuid": null, "task_descriptions": [ "with the right hand, place the large blue bowl on the square plate, with the left hand, put the wet wipes into the blue bowl." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "open", "hold" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "bowl", "level1": "container", "level2": "bowl", "level3": null, "level4": null, "level5": null }, { "object_name": "wet_tissue", "level1": "daily_necessities", "level2": "wet_tissue", "level3": null, "level4": null, "level5": null }, { "object_name": "square_plate", "level1": "container", "level2": "square_plate", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "airbot mmk2" ], "end_effector_type": "five_finger_hand" } }, "Galbot_g1_steamer_storage_baozi_g": { "dataset_name": "steamer_storage_baozi_g", "dataset_uuid": "fc0c05a2-5b0d-4aa4-9329-eb16047d2f03", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "end_effector_type": "two_finger_gripper", "operation_platform_height": 0.0, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "baozi", "level1": "food", "level2": "baozi", "level3": null, "level4": null, "level5": null }, { "object_name": "steamer", "level1": "container", "level2": "steamer", "level3": null, "level4": null, "level5": null }, { "object_name": "pot_lid", "level1": "daily_necessities", "level2": "pot_lid", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null } ], "path": "Galbot_g1_steamer_storage_baozi_g", "video_url": "./assets/videos/Galbot_g1_steamer_storage_baozi_g.mp4", "thumbnail_url": "./assets/thumbnails/Galbot_g1_steamer_storage_baozi_g.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "1.6GB", "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": "Galbot_g1", "codebase_version": "v2.1", "statistics": { "total_episodes": 89, "total_frames": 87860, "total_tasks": 1, "total_videos": 267, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:88" }, "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": [ 368, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 368, "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": [ 368, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 368, "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": [ 49 ], "names": [ "body_joint_1_rad", "body_joint_2_rad", "body_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", "left_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm" ] }, "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", "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" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "take steamed baozi put them in steamer then cover it.", "sub_tasks": [ "Grasp the pot lid with left gripper", "Place the pot lid on the steamer with left gripper", "End", "Place the baozi on the steamer with right gripper", "Grasp the baozi in the plate with right 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": [ 368, 640, 3 ], "resolution": [ 368, 640 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 368, 640, 3 ], "resolution": [ 368, 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": [ 368, 640, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 368, 640, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 49 ], "names": [ "body_joint_1_rad", "body_joint_2_rad", "body_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", "left_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm" ] } }, "action_space": { "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", "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Galbot_g1_steamer_storage_baozi_g_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "steamer_storage_baozi_g", "dataset_uuid": null, "task_descriptions": [ "take steamed baozi put them in steamer then cover it." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "baozi", "level1": "food", "level2": "baozi", "level3": null, "level4": null, "level5": null }, { "object_name": "steamer", "level1": "container", "level2": "steamer", "level3": null, "level4": null, "level5": null }, { "object_name": "pot_lid", "level1": "daily_necessities", "level2": "pot_lid", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 0, "device_model": [ "galbo" ], "end_effector_type": "two_finger_gripper" } }, "R1_Lite_open_and_close_curtains": { "dataset_name": "open_and_close_curtains", "dataset_uuid": "184bad58-5213-4be2-bb93-7c6d271bf034", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "curtains", "level1": "clothing", "level2": "curtains", "level3": null, "level4": null, "level5": null } ], "path": "R1_Lite_open_and_close_curtains", "video_url": "./assets/videos/R1_Lite_open_and_close_curtains.mp4", "thumbnail_url": "./assets/thumbnails/R1_Lite_open_and_close_curtains.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "8.5GB", "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": "R1_Lite", "codebase_version": "v2.1", "statistics": { "total_episodes": 98, "total_frames": 226694, "total_tasks": 1, "total_videos": 294, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:97" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "open close inner and outer curtains on both sides.", "sub_tasks": [ "Pull the outeouter curtains open on both sides with the both gripper", "Pull the outer curtains open on both sides", "End", "Pull the inner curtains open on both sides", "Close the outer curtains on both sides", "Pull the inner curtains open on left sides with the left gripper", "Close the right inner curtain with the right gripper", "Pull the inner curtains open on right sides with the right gripper", "Close the left inner curtain with the left gripper", "Close the outeouter curtains on both sides with the both gripper", "Close the inner curtains on both sides", "abnormal", "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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "R1_Lite_open_and_close_curtains_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "open_and_close_curtains", "dataset_uuid": null, "task_descriptions": [ "open close inner and outer curtains on both sides." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "curtains", "level1": "clothing", "level2": "curtains", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "galaxea_r1_lite" ], "end_effector_type": "two_finger_gripper" } }, "leju_robot_moving_parts_c": { "dataset_name": "moving_parts_c", "dataset_uuid": "7aa945d0-afcc-41a9-bc85-6d19914ec42d", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "end_effector_type": [ "five_finger_hand" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "cabinet", "level1": "furniture", "level2": "cabinet", "level3": null, "level4": null, "level5": null }, { "object_name": "parts", "level1": "mechanical_parts", "level2": "parts", "level3": null, "level4": null, "level5": null } ], "path": "leju_robot_moving_parts_c", "video_url": "./assets/videos/leju_robot_moving_parts_c.mp4", "thumbnail_url": "./assets/thumbnails/leju_robot_moving_parts_c.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "44.0GB", "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": "leju_robot", "codebase_version": "v2.1", "statistics": { "total_episodes": 490, "total_frames": 716756, "total_tasks": 1, "total_videos": 1470, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:489" }, "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.camera_head_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_left_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_right_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "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": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] }, "action": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "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": "take the parts from the cabinet and place them on the table.", "sub_tasks": [ "Place the white part on the table with left gripper", "Grasp the white part with left gripper", "Place the gray part on the table with right gripper", "Grasp the gray part with right gripper", "End", "Return to the initial position at the workbench.", "Move the small component to the workbench.", "Place the white part on the table with right gripper", "Insert the small component into the corresponding slot on the workbench.", "Pick up the small component from the shelf.", "Move to the table behind body", "Grasp the white part with right 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.camera_head_rgb", "name": "camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_left_wrist_rgb", "name": "camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_right_wrist_rgb", "name": "camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] } }, "action_space": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "leju_robot_moving_parts_c_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.camera_head_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.camera_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.camera_right_wrist_rgb/\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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "moving_parts_c", "dataset_uuid": null, "task_descriptions": [ "take the parts from the cabinet and move to the table ,then place the parts on the table." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "cabinet", "level1": "furniture", "level2": "cabinet", "level3": null, "level4": null, "level5": null }, { "object_name": "parts", "level1": "mechanical_parts", "level2": "parts", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "leju_kuavo_4_pro" ], "end_effector_type": "five_finger_gripper" } }, "AIRBOT_MMK2_mobile_phone_storage": { "dataset_name": "mobile_phone_storage", "dataset_uuid": "ae74a19b-7e4c-4f10-b378-faa014a9f006", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "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": "mobile_phone", "level1": "communication_supplies", "level2": "mobile_phone", "level3": null, "level4": null, "level5": null }, { "object_name": "calculator_box", "level1": "container", "level2": "calculator_box", "level3": null, "level4": null, "level5": null } ], "path": "AIRBOT_MMK2_mobile_phone_storage", "video_url": "./assets/videos/AIRBOT_MMK2_mobile_phone_storage.mp4", "thumbnail_url": "./assets/thumbnails/AIRBOT_MMK2_mobile_phone_storage.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "1K-10K", "dataset_size": "496.3MB", "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": 9492, "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": "Pick up the mobile phone and place it on the calculator box, then pick it up from the box and put it on the table.", "sub_tasks": [ "End", "Place the telephone on the table with the right gripper", "Static", "Place the telephone on the box with the left gripper", "Grasp the telephone with the left gripper", "Grasp the telephone with the right gripper", "Abnormal", "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_mobile_phone_storage_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "mobile_phone_storage", "dataset_uuid": null, "task_descriptions": [ "pick up the mobile phone with your left hand and place it on the calculator box.use your right hand to pick up the mobile phone from the calculator box.Put it on the table." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "mobile_phone", "level1": "communication_supplies", "level2": "mobile_phone", "level3": null, "level4": null, "level5": null }, { "object_name": "calculator_box", "level1": "container", "level2": "calculator_box", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "airbot mmk2" ], "end_effector_type": "five_finger_hand" } }, "Cobot_Magic_take_out_a_pen_from_the_pen_holder": { "dataset_name": "take_out_a_pen_from_the_pen_holder", "dataset_uuid": "836047ba-9812-4f07-b6bd-1d98e5c01c1d", "scene_type": [ "office", "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "pen", "level1": "office_supplies", "level2": "pen", "level3": null, "level4": null, "level5": null }, { "object_name": "pen_holder", "level1": "office_supplies", "level2": "pen_holder", "level3": null, "level4": null, "level5": null }, { "object_name": "tablecloth", "level1": "fabric", "level2": "tablecloth", "level3": null, "level4": null, "level5": null } ], "path": "Cobot_Magic_take_out_a_pen_from_the_pen_holder", "video_url": "./assets/videos/Cobot_Magic_take_out_a_pen_from_the_pen_holder.mp4", "thumbnail_url": "./assets/thumbnails/Cobot_Magic_take_out_a_pen_from_the_pen_holder.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "6.5GB", "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": "Cobot_Magic", "codebase_version": "v2.1", "statistics": { "total_episodes": 488, "total_frames": 225692, "total_tasks": 5, "total_videos": 1464, "total_chunks": 1, "chunks_size": 1000, "fps": 50 }, "splits": { "train": "0:487" }, "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": 50, "video.channels": 3, "has_audio": false } }, "observation.images.cam_left_wrist_rgb_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": 50, "video.channels": 3, "has_audio": false } }, "observation.images.cam_right_wrist_rgb_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": 50, "video.channels": 3, "has_audio": false } }, "observation.state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "put the pen in the pen holder on the white table with the left gripper.\nplace the pen in the pen holder on the grey table with the left gripper.\nplace the pen in the pen holder on the grey table with the right gripper.\nput the pen in the pen holder on the green table with the right gripper.\nput the pen in the pen holder on the white table with the right gripper.", "sub_tasks": [ "Place the pen on the table with the left gripper", "Abnormal", "End", "Pick up the pen with the left gripper", "Pick up the pen from the pen holder", "Place the pen on the table with the right gripper", "Pick up the pen with the right gripper", "Place the pen on the table", "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": 50, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb_rgb", "name": "cam_left_wrist_rgb_rgb", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 50, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb_rgb", "name": "cam_right_wrist_rgb_rgb", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 50, "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_rgb", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb_rgb", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Cobot_Magic_take_out_a_pen_from_the_pen_holder_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_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_rgb/\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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "take_out_a_pen_from_the_pen_holder", "dataset_uuid": null, "task_descriptions": [ "place the pen in the pen holder on the grey tablecloth with the left gripper.", "put the pen in the pen holder on the green tablecloth with the left gripper.", "put the pen in the pen holder on the white tablecloth with the left gripper.", "place the pen in the pen holder on the grey tablecloth with the right gripper.", "put the pen in the pen holder on the green tablecloth with the right gripper.", "put the pen in the pen holder on the white table with the right gripper." ], "scene_type": [ "office", "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "pen", "level1": "office_supplies", "level2": "pen", "level3": null, "level4": null, "level5": null }, { "object_name": "pen_holder", "level1": "office_supplies", "level2": "pen_holder", "level3": null, "level4": null, "level5": null }, { "object_name": "tablecloth", "level1": "fabric", "level2": "tablecloth", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "agilex_cobot_decoupled_magic" ], "end_effector_type": "two_finger_gripper" } }, "R1_Lite_move_the_position_of_the_long_bread": { "dataset_name": "move_the_position_of_the_long_bread", "dataset_uuid": "bdee9310-93d0-4808-a0ad-4ca01b25ac9f", "scene_type": [ "home" ], "atomic_actions": [ "place", "pick", "grasp" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "pen", "level1": "office_supplies", "level2": "pen", "level3": null, "level4": null, "level5": null }, { "object_name": "banana", "level1": "fruit", "level2": "banana", "level3": null, "level4": null, "level5": null }, { "object_name": "bath_ball", "level1": "daily_necessities", "level2": "bath_ball", "level3": null, "level4": null, "level5": null }, { "object_name": "bowl", "level1": "container", "level2": "bowl", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "can", "level1": "container", "level2": "can", "level3": null, "level4": null, "level5": null }, { "object_name": "eraser", "level1": "office_supplies", "level2": "eraser", "level3": null, "level4": null, "level5": null }, { "object_name": "hard_cleanser", "level1": "daily_necessities", "level2": "hard_cleanser", "level3": null, "level4": null, "level5": null }, { "object_name": "long_bread", "level1": "food", "level2": "long_bread", "level3": null, "level4": null, "level5": null }, { "object_name": "peeler", "level1": "tool", "level2": "peeler", "level3": null, "level4": null, "level5": null }, { "object_name": "block", "level1": "toy", "level2": "block", "level3": null, "level4": null, "level5": null }, { "object_name": "duck", "level1": "toy", "level2": "duck", "level3": null, "level4": null, "level5": null }, { "object_name": "soap", "level1": "daily_necessities", "level2": "soap", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "basket", "level1": "container", "level2": "basket", "level3": null, "level4": null, "level5": null }, { "object_name": "cola", "level1": "drink", "level2": "cola", "level3": null, "level4": null, "level5": null }, { "object_name": "detergent", "level1": "daily_necessities", "level2": "detergent", "level3": null, "level4": null, "level5": null }, { "object_name": "egg_beater", "level1": "electrical_appliances", "level2": "egg_beater", "level3": null, "level4": null, "level5": null }, { "object_name": "towel", "level1": "clothing", "level2": "towel", "level3": null, "level4": null, "level5": null }, { "object_name": "orange", "level1": "fruit", "level2": "orange", "level3": null, "level4": null, "level5": null }, { "object_name": "peach", "level1": "fruit", "level2": "peach", "level3": null, "level4": null, "level5": null }, { "object_name": "marker", "level1": "office_supplies", "level2": "marker", "level3": null, "level4": null, "level5": null }, { "object_name": "rubiks_cube", "level1": "toy", "level2": "rubiks_cube", "level3": null, "level4": null, "level5": null }, { "object_name": "bread_slice", "level1": "food", "level2": "bread_slice", "level3": null, "level4": null, "level5": null }, { "object_name": "brush", "level1": "daily_necessities", "level2": "brush", "level3": null, "level4": null, "level5": null }, { "object_name": "yogurt", "level1": "drink", "level2": "yogurt", "level3": null, "level4": null, "level5": null }, { "object_name": "power_strip", "level1": "electric_appliance", "level2": "power_strip", "level3": null, "level4": null, "level5": null }, { "object_name": "milk", "level1": "drink", "level2": "milk", "level3": null, "level4": null, "level5": null }, { "object_name": "soda", "level1": "drink", "level2": "soda", "level3": null, "level4": null, "level5": null }, { "object_name": "lime", "level1": "fruit", "level2": "lime", "level3": null, "level4": null, "level5": null }, { "object_name": "coffee_capsule", "level1": "drink", "level2": "coffee_capsule", "level3": null, "level4": null, "level5": null }, { "object_name": "dish", "level1": "container", "level2": "dish", "level3": null, "level4": null, "level5": null }, { "object_name": "glass", "level1": "furniture", "level2": "glass", "level3": null, "level4": null, "level5": null }, { "object_name": "egg_yolk_pastry", "level1": "food", "level2": "egg_yolk_pastry", "level3": null, "level4": null, "level5": null }, { "object_name": "glasses_case", "level1": "daily_necessities", "level2": "glasses_case", "level3": null, "level4": null, "level5": null }, { "object_name": "gum", "level1": "daily_necessities", "level2": "gum", "level3": null, "level4": null, "level5": null }, { "object_name": "tape", "level1": "daily_necessities", "level2": "tape", "level3": null, "level4": null, "level5": null }, { "object_name": "soft_cleanser", "level1": "daily_necessities", "level2": "soft_cleanser", "level3": null, "level4": null, "level5": null }, { "object_name": "chips", "level1": "food", "level2": "chips", "level3": null, "level4": null, "level5": null }, { "object_name": "chocolate", "level1": "food", "level2": "chocolate", "level3": null, "level4": null, "level5": null }, { "object_name": "cookie", "level1": "food", "level2": "cookie", "level3": null, "level4": null, "level5": null }, { "object_name": "spoon", "level1": "tableware", "level2": "spoon", "level3": null, "level4": null, "level5": null } ], "path": "R1_Lite_move_the_position_of_the_long_bread", "video_url": "./assets/videos/R1_Lite_move_the_position_of_the_long_bread.mp4", "thumbnail_url": "./assets/thumbnails/R1_Lite_move_the_position_of_the_long_bread.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "1K-10K", "dataset_size": "344.7MB", "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": "R1_Lite", "codebase_version": "v2.1", "statistics": { "total_episodes": 31, "total_frames": 9249, "total_tasks": 1, "total_videos": 124, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:30" }, "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_left_rgb": { "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_right_rgb": { "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 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" ] }, "action": { "dtype": "float32", "shape": [ 18 ], "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 }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "put the long bread the designated position.", "sub_tasks": [ "Grasp the long bread with right gripper", "Grasp the long bread with left gripper", "Place the long bread on the table with right gripper", "Place the long bread on the table with left gripper", "Abnormal", "Static", "End", "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_left_rgb", "name": "cam_high_left_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_right_rgb", "name": "cam_high_right_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_left_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_right_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "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" ] } }, "action_space": { "dtype": "float32", "shape": [ 18 ], "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "R1_Lite_move_the_position_of_the_long_bread_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_left_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_high_right_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "move_the_position_of_the_long_bread", "dataset_uuid": null, "task_descriptions": [ "put the long bread the designated position." ], "scene_type": [ "home" ], "atomic_actions": [ "place", "pick", "grasp" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "pen", "level1": "office_supplies", "level2": "pen", "level3": null, "level4": null, "level5": null }, { "object_name": "banana", "level1": "fruit", "level2": "banana", "level3": null, "level4": null, "level5": null }, { "object_name": "bath_ball", "level1": "daily_necessities", "level2": "bath_ball", "level3": null, "level4": null, "level5": null }, { "object_name": "bowl", "level1": "container", "level2": "bowl", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "can", "level1": "container", "level2": "can", "level3": null, "level4": null, "level5": null }, { "object_name": "eraser", "level1": "office_supplies", "level2": "eraser", "level3": null, "level4": null, "level5": null }, { "object_name": "hard_cleanser", "level1": "daily_necessities", "level2": "hard_cleanser", "level3": null, "level4": null, "level5": null }, { "object_name": "long_bread", "level1": "food", "level2": "long_bread", "level3": null, "level4": null, "level5": null }, { "object_name": "peeler", "level1": "tool", "level2": "peeler", "level3": null, "level4": null, "level5": null }, { "object_name": "block", "level1": "toy", "level2": "block", "level3": null, "level4": null, "level5": null }, { "object_name": "duck", "level1": "toy", "level2": "duck", "level3": null, "level4": null, "level5": null }, { "object_name": "soap", "level1": "daily_necessities", "level2": "soap", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "basket", "level1": "container", "level2": "basket", "level3": null, "level4": null, "level5": null }, { "object_name": "cola", "level1": "drink", "level2": "cola", "level3": null, "level4": null, "level5": null }, { "object_name": "detergent", "level1": "daily_necessities", "level2": "detergent", "level3": null, "level4": null, "level5": null }, { "object_name": "egg_beater", "level1": "electrical_appliances", "level2": "egg_beater", "level3": null, "level4": null, "level5": null }, { "object_name": "towel", "level1": "clothing", "level2": "towel", "level3": null, "level4": null, "level5": null }, { "object_name": "orange", "level1": "fruit", "level2": "orange", "level3": null, "level4": null, "level5": null }, { "object_name": "peach", "level1": "fruit", "level2": "peach", "level3": null, "level4": null, "level5": null }, { "object_name": "marker", "level1": "office_supplies", "level2": "marker", "level3": null, "level4": null, "level5": null }, { "object_name": "rubiks_cube", "level1": "toy", "level2": "rubiks_cube", "level3": null, "level4": null, "level5": null }, { "object_name": "bread_slice", "level1": "food", "level2": "bread_slice", "level3": null, "level4": null, "level5": null }, { "object_name": "brush", "level1": "daily_necessities", "level2": "brush", "level3": null, "level4": null, "level5": null }, { "object_name": "yogurt", "level1": "drink", "level2": "yogurt", "level3": null, "level4": null, "level5": null }, { "object_name": "power_strip", "level1": "electric_appliance", "level2": "power_strip", "level3": null, "level4": null, "level5": null }, { "object_name": "milk", "level1": "drink", "level2": "milk", "level3": null, "level4": null, "level5": null }, { "object_name": "soda", "level1": "drink", "level2": "soda", "level3": null, "level4": null, "level5": null }, { "object_name": "lime", "level1": "fruit", "level2": "lime", "level3": null, "level4": null, "level5": null }, { "object_name": "coffee_capsule", "level1": "drink", "level2": "coffee_capsule", "level3": null, "level4": null, "level5": null }, { "object_name": "dish", "level1": "container", "level2": "dish", "level3": null, "level4": null, "level5": null }, { "object_name": "glass", "level1": "furniture", "level2": "glass", "level3": null, "level4": null, "level5": null }, { "object_name": "egg_yolk_pastry", "level1": "food", "level2": "egg_yolk_pastry", "level3": null, "level4": null, "level5": null }, { "object_name": "glasses_case", "level1": "daily_necessities", "level2": "glasses_case", "level3": null, "level4": null, "level5": null }, { "object_name": "gum", "level1": "daily_necessities", "level2": "gum", "level3": null, "level4": null, "level5": null }, { "object_name": "tape", "level1": "daily_necessities", "level2": "tape", "level3": null, "level4": null, "level5": null }, { "object_name": "soft_cleanser", "level1": "daily_necessities", "level2": "soft_cleanser", "level3": null, "level4": null, "level5": null }, { "object_name": "chips", "level1": "food", "level2": "chips", "level3": null, "level4": null, "level5": null }, { "object_name": "chocolate", "level1": "food", "level2": "chocolate", "level3": null, "level4": null, "level5": null }, { "object_name": "cookie", "level1": "food", "level2": "cookie", "level3": null, "level4": null, "level5": null }, { "object_name": "spoon", "level1": "tableware", "level2": "spoon", "level3": null, "level4": null, "level5": null } ], "device_model": [ "galaxea_r1_lite" ], "end_effector_type": "two_finger_gripper", "operation_platform_height": 77.2 } }, "Cobot_Magic_take_out_the_bread": { "dataset_name": "take_out_the_bread", "dataset_uuid": "2fb93e01-1b87-444e-8fef-493ab51a3c3f", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "bread_machine", "level1": "kitchenware", "level2": "bread_machine", "level3": null, "level4": null, "level5": null }, { "object_name": "bread", "level1": "food", "level2": "bread", "level3": null, "level4": null, "level5": null }, { "object_name": "tablecloth", "level1": "clothing", "level2": "tablecloth", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null } ], "path": "Cobot_Magic_take_out_the_bread", "video_url": "./assets/videos/Cobot_Magic_take_out_the_bread.mp4", "thumbnail_url": "./assets/thumbnails/Cobot_Magic_take_out_the_bread.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "15.1GB", "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": "Cobot_Magic", "codebase_version": "v2.1", "statistics": { "total_episodes": 588, "total_frames": 333147, "total_tasks": 6, "total_videos": 1764, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:587" }, "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_front_rgb": { "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "take toasted bread from bread machine on blue coffee table place on plate.\ntake toasted bread from bread machine on light coffee tablecloth place on plate.\ntake toasted bread from bread machine on green coffee tablecloth place on plate.\ntake toasted bread from bread machine on grey coffee table place on plate.\ntake toasted bread from bread machine on white checkered table place on plate.\ntake toasted bread from bread machine on white table place on plate.", "sub_tasks": [ "use the right arm to put a slice of bread into the plate", "use the left arm to put a slice of bread into the empty plate", "use the left arm to take out a slice of bread", "use the right arm to take out a slice of bread", "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_front_rgb", "name": "cam_front_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_front_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Cobot_Magic_take_out_the_bread_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_front_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "take_out_the_bread", "dataset_uuid": null, "task_descriptions": [ "take toasted bread from bread machine on blue coffee table place on plate.", "take toasted bread from bread machine on light coffee tablecloth place on plate.", "take toasted bread from bread machine on green coffee tablecloth place on plate.", "take toasted bread from bread machine on grey coffee table place on plate.", "take toasted bread from bread machine on white table place on plate.", "take toasted bread from bread machine on white checkered table place on plate." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "bread_machine", "level1": "kitchenware", "level2": "bread_machine", "level3": null, "level4": null, "level5": null }, { "object_name": "bread", "level1": "food", "level2": "bread", "level3": null, "level4": null, "level5": null }, { "object_name": "tablecloth", "level1": "clothing", "level2": "tablecloth", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "agilex_cobot_decoupled_magic" ], "end_effector_type": "two_finger_gripper" } }, "Cobot_Magic_mobile_cube": { "dataset_name": "mobile_cube", "dataset_uuid": "ec621804-bf42-4f9d-971a-bbe5cb197144", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "cube_block", "level1": "toy", "level2": "cube_block", "level3": null, "level4": null, "level5": null } ], "path": "Cobot_Magic_mobile_cube", "video_url": "./assets/videos/Cobot_Magic_mobile_cube.mp4", "thumbnail_url": "./assets/thumbnails/Cobot_Magic_mobile_cube.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "347.9MB", "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": 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"video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_left_wrist_rgb": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_right_wrist_rgb": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.state": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", 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"right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "timestamp": { "dtype": "float32", "shape": [ 1 ], "names": null }, "frame_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "episode_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "task_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "subtask_annotation": { "names": null, "dtype": "int32", "shape": [ 5 ] }, "scene_annotation": { "names": null, "dtype": "int32", "shape": [ 1 ] }, "eef_sim_pose_state": { "names": [ "left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_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 ] }, "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 ] }, "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 ] } }, "tasks": "pick up the cube block and place it in another position on the table.", "sub_tasks": [ "End", "Pick up the small cube", "Place the small cube on the ahead of the table", "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 } ], "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" ] } ], "state": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] } }, "action_space": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Cobot_Magic_mobile_cube_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "mobile_cube", "dataset_uuid": null, "task_descriptions": [ "pick up the cube block and place it in another position on the table." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "cube_block", "level1": "toy", "level2": "cube_block", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "agilex_cobot_decoupled_magic" ], "end_effector_type": "two_finger_gripper" } }, "G1edu-u3_stack_bowls": { "dataset_name": "stack_bowls", "dataset_uuid": "d27ed137-4947-4948-b818-a02094cab254", "scene_type": [ "home", "kitchen" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "three_finger_hand" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "bowl", "level1": "container", "level2": "bowl", "level3": null, "level4": null, "level5": null } ], "path": "G1edu-u3_stack_bowls", "video_url": "./assets/videos/G1edu-u3_stack_bowls.mp4", "thumbnail_url": "./assets/thumbnails/G1edu-u3_stack_bowls.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "7.0GB", "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": "G1edu-u3", "codebase_version": "v2.1", "statistics": { "total_episodes": 261, "total_frames": 166122, "total_tasks": 2, "total_videos": 783, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:260" }, "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.color_left_wrist": { "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.color_right_wrist": { "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": [ 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 }, "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": "Pick up the bowl on one side of the table and place it on top of the middle bowl, then pick up the bowl on the other side of the table and place it on top of the middle bowls.\nPick up the bowl on one side of the table and place it on top of the middle bowl, then pick up the bowl on the other side of the table and place it on top of the middle bowls.", "sub_tasks": [ "Place the bowl on the right onto the bowl in the middle with right gripper", "Grasp the bowl on the right with the right gripper", "Grasp the bowl on the left with the left gripper", "End", "Static", "Abnormal", "Place the bowl on the left onto the bowl in the middle with 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.color_left_wrist", "name": "color_left_wrist", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 30, "is_depth": false }, { "key": "observation.images.color_right_wrist", "name": "color_right_wrist", "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.color_left_wrist", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.color_right_wrist", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ] } ], "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_space": { "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "G1edu-u3_stack_bowls_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.color_left_wrist/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.color_right_wrist/\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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "stack_bowls", "dataset_uuid": null, "task_descriptions": [ "the left hand pick up the bowl on the left side of the table and place it on top of the middle bowl, the right hand pick up the bowl on the right side of the table and place it on top of the middle bowls.", "the right hand pick up the bowl on the right side of the table and place it on top of the middle bowl, the left hand pick up the bowl on the left side of the table and place it on top of the middle bowls." ], "scene_type": [ "home", "kitchen" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "bowl", "level1": "container", "level2": "bowl", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "unitree_g1" ], "end_effector_type": "five_finger_hand" } }, "RMC-AIDA-L_fold_shorts": { "dataset_name": "fold_shorts", "dataset_uuid": "5f973d3e-d7a6-40c1-8ecc-0a4a158505f7", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "fold", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "shorts", "level1": "clothing", "level2": "shorts", "level3": null, "level4": null, "level5": null } ], "path": "RMC-AIDA-L_fold_shorts", "video_url": "./assets/videos/RMC-AIDA-L_fold_shorts.mp4", "thumbnail_url": "./assets/thumbnails/RMC-AIDA-L_fold_shorts.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "9.5GB", "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": "RMC-AIDA-L", "codebase_version": "v2.1", "statistics": { "total_episodes": 866, "total_frames": 730046, "total_tasks": 4, "total_videos": 2598, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:865" }, "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.state": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] }, "action": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "the shorts is place with the front facing upwards, the left gripper grasp the waist of the shorts, and the right gripper grasp the bottom of the shorts and folds them in the middle.\nthe shorts is place with the back facing up, the left gripper grasp the waist of the shorts, and the right gripper grasp the bottom of the shorts and folds them in the middle.\nthe shorts is place with the front facing upwards, the right gripper grasp the waist of the shorts, and the left gripper grasp the bottom of the shorts and folds them in the middle.\nthe shorts is place with the back facing up, the right gripper grasp the waist of the shorts, and the left gripper grasp the bottom of the shorts and folds them in the middle.", "sub_tasks": [ "Grab the lower left pant leg with your left hand.", "Grab the lower right pant leg with your right hand.", "Fold the bottom of the shorts upward with right gripper", "Fold the pants from right to left with the right gripper", "Hold the waistband with your left hand.", "Hold the lower right waistband with your right hand.", "Grab the waistband with your right hand.", "Fold to the right with your left hand.", "Press the middle of the pants with your left hand.", "Fold upward with your left hand.", "Fold to the left with your right hand.", "Hold the lower left waistband with your left hand.", "Place the folded trousers onto the center area with the right grippers", "Place the folded trousers onto the center area with right gripper", "Place the folded trousers onto the center area with the left grippers", "Grasp the right lower side of the waistband of the shorts with right gripper", "end", "Anomaly detected.", "Grasp the lower left leg of the shorts with left gripper", "Fold the shorts from right to left with right gripper", "abnormal", "Fold the pants from left to right with the left gripper", "Fold the bottom of the shorts upward with left gripper", "Fold the bottom of the pants upward with both grippers", "Adjust the pants with your right hand.", "Fold upward with your right hand.", "Adjust the pants with your left hand.", "Press the middle of the pants with your right hand.", "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 } ], "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" ] } ], "state": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] } }, "action_space": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "RMC-AIDA-L_fold_shorts_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "fold_shorts", "dataset_uuid": null, "task_descriptions": [ "the shorts is place with the back facing up, the left gripper grasp the waist of the shorts, and the right gripper grasp the bottom of the shorts and folds them in the middle.", "the shorts is place with the front facing upwards, the left gripper grasp the waist of the shorts, and the right gripper grasp the bottom of the shorts and folds them in the middle.", "the shorts is place with the back facing up, the right gripper grasp the waist of the shorts, and the left gripper grasp the bottom of the shorts and folds them in the middle.", "the shorts is place with the front facing upwards, the right gripper grasp the waist of the shorts, and the left gripper grasp the bottom of the shorts and folds them in the middle." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "fold", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "shorts", "level1": "clothing", "level2": "shorts", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "realman rmc-aida-l" ], "end_effector_type": "two_finger_gripper" } }, "G1edu-u3_place_bottle_c": { "dataset_name": "place_bottle_c", "dataset_uuid": "5e6d1031-7c1e-4cd5-a371-1682b697fabd", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place" ], "end_effector_type": [ "three_finger_hand" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "bottle", "level1": "container", "level2": "bottle", "level3": null, "level4": null, "level5": null } ], "path": "G1edu-u3_place_bottle_c", "video_url": "./assets/videos/G1edu-u3_place_bottle_c.mp4", "thumbnail_url": "./assets/thumbnails/G1edu-u3_place_bottle_c.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "1K-10K", "dataset_size": "92.3MB", "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": "G1edu-u3", "codebase_version": "v2.1", "statistics": { "total_episodes": 29, "total_frames": 7277, "total_tasks": 1, "total_videos": 29, "total_chunks": 1, "chunks_size": 30, "fps": 30 }, "splits": { "train": "0:28" }, "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.ego_view": { "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.state": { "dtype": "float32", "shape": [ 30 ], "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": [ 30 ], "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": "float64", "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": "Pick up the red apple\nPick up the red apple\nPick up the water bottle\nPick up the water bottle\nPick up the white cup\nPick up the lemon\nPlace the red apple\nPlace the red apple in the basket\nPlace the red apple on the blue rectangle plate\nPlace the red apple on the orange round plate\nPlace the water bottle\nPlace the water bottle\nPlace the white cup\nPlace the lemon on the blue rectangle plate\nPlace the lemon on the orange round plate", "sub_tasks": [ "End", "Place the water bottle on the table with left gripper", "Place the water bottle on the table with right 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.ego_view", "name": "ego_view", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.ego_view", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channel" ] } ], "state": { "dtype": "float32", "shape": [ 30 ], "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_space": { "dtype": "float32", "shape": [ 30 ], "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "G1edu-u3_place_bottle_c_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.ego_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "place_bottle_c", "dataset_uuid": null, "task_descriptions": [ "put the bottle on the table." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "bottle", "level1": "container", "level2": "bottle", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "unitree_g1" ], "end_effector_type": "three_finger_hand" } }, "R1_Lite_hang_clothes": { "dataset_name": "hang_clothes", "dataset_uuid": "f7bbf41d-af0d-4f31-9158-8e7987fb7c9f", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "clothesline", "level1": "tool", "level2": "clothesline", "level3": null, "level4": null, "level5": null }, { "object_name": "clothes_hanger", "level1": "daily_necessities", "level2": "clothes_hanger", "level3": null, "level4": null, "level5": null }, { "object_name": "clothes", "level1": "fabric", "level2": "clothes", "level3": null, "level4": null, "level5": null }, { "object_name": "basket", "level1": "container", "level2": "basket", "level3": null, "level4": null, "level5": null } ], "path": "R1_Lite_hang_clothes", "video_url": "./assets/videos/R1_Lite_hang_clothes.mp4", "thumbnail_url": "./assets/thumbnails/R1_Lite_hang_clothes.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "22.8GB", "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": "R1_Lite", "codebase_version": "v2.1", "statistics": { "total_episodes": 109, "total_frames": 289827, "total_tasks": 1, "total_videos": 327, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:108" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "hang basket clothes on hanger then take off put back.", "sub_tasks": [ "Pick up the clothes rack on the clothesline with the right gripper", "Hang the clothes rack on the clothesline with the right gripper", "Take the clothes off the clothes rack with the right gripper", "End", "Hang the clothes on the clothes rack", "Put clothes in the basket with the left gripper", "Pick up the clothes rack on the clothesline", "Hang the clothes rack on the clothesline", "Pick up clothes from the basket", "Take the clothes off the clothes rack", "Hang the clothes on the clothes rack with both grippers", "Pick up clothes from the basket with the left gripper", "abnormal", "Put clothes in the basket", "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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "R1_Lite_hang_clothes_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "hang_clothes", "dataset_uuid": null, "task_descriptions": [ "hang basket clothes on hanger then take off put back." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "clothesline", "level1": "tool", "level2": "clothesline", "level3": null, "level4": null, "level5": null }, { "object_name": "clothes_hanger", "level1": "daily_necessities", "level2": "clothes_hanger", "level3": null, "level4": null, "level5": null }, { "object_name": "clothes", "level1": "fabric", "level2": "clothes", "level3": null, "level4": null, "level5": null }, { "object_name": "basket", "level1": "container", "level2": "basket", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "galaxea_r1_lite" ], "end_effector_type": "two_finger_gripper" } }, "leju_robot_hotel_services_i": { "dataset_name": "hotel_services_i", "dataset_uuid": "fc45ac73-e09b-491e-9dc0-71c8c532f0a7", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "five_finger_hand" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "card", "level1": "nfc", "level2": "card", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "sensor", "level1": "electronic_products", "level2": "sensor", "level3": null, "level4": null, "level5": null } ], "path": "leju_robot_hotel_services_i", "video_url": "./assets/videos/leju_robot_hotel_services_i.mp4", "thumbnail_url": "./assets/thumbnails/leju_robot_hotel_services_i.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "2.1GB", "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": "leju_robot", "codebase_version": "v2.1", "statistics": { "total_episodes": 189, "total_frames": 33547, "total_tasks": 1, "total_videos": 567, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:188" }, "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.camera_head_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_left_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_right_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "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": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "action": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "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": "take out the card place it on the sensor for recognition and then transfer it.", "sub_tasks": [ "End", "Take out the room card with right gripper", "Hand the room card to the guest with right gripper", "Hand the room card to the target.", "Pick up the room card from the card holder.", "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.camera_head_rgb", "name": "camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_left_wrist_rgb", "name": "camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_right_wrist_rgb", "name": "camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] } }, "action_space": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "leju_robot_hotel_services_i_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.camera_head_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.camera_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.camera_right_wrist_rgb/\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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "hotel_services_i", "dataset_uuid": null, "task_descriptions": [ "pick room card from front box and give room card." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "card", "level1": "nfc", "level2": "card", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "sensor", "level1": "electronic_products", "level2": "sensor", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "leju_kuavo_4_pro" ], "end_effector_type": "five_finger_gripper" } }, "AIRBOT_MMK2_place_the_yellow_block": { "dataset_name": "place_the_yellow_block", "dataset_uuid": "5627f996-6a84-4ee5-942f-6a546d68645f", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "lower" ], "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": "square_block", "level1": "toy", "level2": "square_block", "level3": null, "level4": null, "level5": null }, { "object_name": "rubiks_cube", "level1": "toy", "level2": "rubiks_cube", "level3": null, "level4": null, "level5": null } ], "path": "AIRBOT_MMK2_place_the_yellow_block", "video_url": "./assets/videos/AIRBOT_MMK2_place_the_yellow_block.mp4", "thumbnail_url": "./assets/thumbnails/AIRBOT_MMK2_place_the_yellow_block.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "501.4MB", "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": 47, "total_frames": 10030, "total_tasks": 1, "total_videos": 188, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:46" }, "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": "Place the yellow square from the table onto the rubik's cube with one hand, and use your other hand to take the yellow square from the rubik's cube to the table.", "sub_tasks": [ "Static", "End", "Abnormal", "Grasp the yellow block with left gripper", "Grasp the yellow block on the magic cube with right gripper", "Place the yellow block on the magic cube with left gripper", "Place the yellow block on the table with right 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_place_the_yellow_block_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "place_the_yellow_block", "dataset_uuid": null, "task_descriptions": [ "place the yellow square block on the table onto the rubik's cube with your left hand, and use your right hand to take the yellow square block from the rubik's cube to the table." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "lower" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "square_block", "level1": "toy", "level2": "square_block", "level3": null, "level4": null, "level5": null }, { "object_name": "rubiks_cube", "level1": "toy", "level2": "rubiks_cube", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "airbot mmk2" ], "end_effector_type": "five_finger_hand" } }, "leju_robot_box_storage_parcel_b": { "dataset_name": "box_storage_parcel_b", "dataset_uuid": "5e55ad50-424b-4a78-9d00-e0d7a45f48f7", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "five_finger_hand" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "parcel", "level1": "container", "level2": "parcel", "level3": null, "level4": null, "level5": null }, { "object_name": "conveyor_belt", "level1": "tool", "level2": "conveyor_belt", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null } ], "path": "leju_robot_box_storage_parcel_b", "video_url": "./assets/videos/leju_robot_box_storage_parcel_b.mp4", "thumbnail_url": "./assets/thumbnails/leju_robot_box_storage_parcel_b.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "9.5GB", "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": "leju_robot", "codebase_version": "v2.1", "statistics": { "total_episodes": 497, "total_frames": 186311, "total_tasks": 1, "total_videos": 1491, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:496" }, "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.camera_head_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_left_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_right_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "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": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] }, "action": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "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": "moved the parcel from conveyor to table for the left to box.", "sub_tasks": [ "Place the package into the parcel locker.", "Pick up the package from the inbound machine.", "Pick up the package from the conveyor belt.", "Place the package onto the inbound machine.", "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.camera_head_rgb", "name": "camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_left_wrist_rgb", "name": "camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_right_wrist_rgb", "name": "camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] } }, "action_space": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "leju_robot_box_storage_parcel_b_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.camera_head_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.camera_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.camera_right_wrist_rgb/\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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "box_storage_parcel_b", "dataset_uuid": null, "task_descriptions": [ "move the parcel with right hand from conveyor to table and then move the parcel to the left box with left hand." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "parcel", "level1": "container", "level2": "parcel", "level3": null, "level4": null, "level5": null }, { "object_name": "conveyor_belt", "level1": "tool", "level2": "conveyor_belt", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "leju_kuavo_4_pro" ], "end_effector_type": "five_finger_gripper" } }, "AIRBOT_MMK2_storage_spoon": { "dataset_name": "storage_spoon", "dataset_uuid": "d4290af8-7a4d-4868-8a9b-2962225648e8", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "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": "spoon", "level1": "tableware", "level2": "spoon", "level3": null, "level4": null, "level5": null }, { "object_name": "basin", "level1": "container", "level2": "basin", "level3": null, "level4": null, "level5": null } ], "path": "AIRBOT_MMK2_storage_spoon", "video_url": "./assets/videos/AIRBOT_MMK2_storage_spoon.mp4", "thumbnail_url": "./assets/thumbnails/AIRBOT_MMK2_storage_spoon.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "363.2MB", "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": 12204, "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": "Take a spoon in one hand and put it into the basin, then take another spoon in your other hand and put it into the basin.", "sub_tasks": [ "Static", "Grasp the spoon with the right gripper", "End", "Grasp the spoon with the left gripper", "Place the spoon into the basin with the right gripper", "Place the spoon into the basin 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_storage_spoon_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "storage_spoon", "dataset_uuid": null, "task_descriptions": [ "take use your left hand to put a spoon into the basin, and then use your right hand to put another spoon into the basin." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "spoon", "level1": "tableware", "level2": "spoon", "level3": null, "level4": null, "level5": null }, { "object_name": "basin", "level1": "container", "level2": "basin", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "airbot mmk2" ], "end_effector_type": "five_finger_hand" } }, "Cobot_Magic_mobile_cube_blackboard": { "dataset_name": "mobile_cube_blackboard", "dataset_uuid": "679f07f9-efb6-4a77-9347-2423da9981cd", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "cube_block", "level1": "toy", "level2": "cube_block", "level3": null, "level4": null, "level5": null } ], "path": "Cobot_Magic_mobile_cube_blackboard", "video_url": "./assets/videos/Cobot_Magic_mobile_cube_blackboard.mp4", "thumbnail_url": "./assets/thumbnails/Cobot_Magic_mobile_cube_blackboard.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "3.4GB", "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": "Cobot_Magic", "codebase_version": "v2.1", "statistics": { "total_episodes": 100, "total_frames": 191398, "total_tasks": 1, "total_videos": 300, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:99" }, "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.state": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "action": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "timestamp": { "dtype": "float32", "shape": [ 1 ], "names": null }, "frame_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "episode_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "task_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "subtask_annotation": { "names": null, "dtype": "int32", "shape": [ 5 ] }, "scene_annotation": { "names": null, "dtype": "int32", "shape": [ 1 ] }, "eef_sim_pose_state": { "names": [ "left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_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 ] }, "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 ] }, "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 ] } }, "tasks": "pick up the multiple cubes in two columns one by one and place them in another position on the table.", "sub_tasks": [ "Place the block at the correct position to assemble the letter S", "out of view", "End", "Pick up the block on the table", "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 } ], "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" ] } ], "state": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] } }, "action_space": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Cobot_Magic_mobile_cube_blackboard_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "mobile_cube_blackboard", "dataset_uuid": null, "task_descriptions": [ "pick up the multiple cubes in two columns one by one and place them in another position on the table." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "cube_block", "level1": "toy", "level2": "cube_block", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "agilex_cobot_decoupled_magic" ], "end_effector_type": "two_finger_gripper" } }, "AgiBot-g1_box_storage_c": { "dataset_name": "box_storage_c", "dataset_uuid": "a55ac5d2-061f-4ff3-9670-41aef4e03037", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null } ], "path": "AgiBot-g1_box_storage_c", "video_url": "./assets/videos/AgiBot-g1_box_storage_c.mp4", "thumbnail_url": "./assets/thumbnails/AgiBot-g1_box_storage_c.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "10.2GB", "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": "AgiBot-g1", "codebase_version": "v2.1", "statistics": { "total_episodes": 39, "total_frames": 23361, "total_tasks": 1, "total_videos": 312, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:38" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "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, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_back_left_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_back_right_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_center_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_left_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_right_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "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": [ 41 ], "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open", "robot_pos_x_m", "robot_pos_y_m", "robot_pos_z_m", "robot_quat_x", "robot_quat_y", "robot_quat_z", "robot_quat_w" ] }, "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", "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_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 }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "put the box on the table into the big box.", "sub_tasks": [ "Pick up the mouse and power cord box.", "Place the mouse and power cord box into the container.", "End", "Place the paper box in the another big box", "Abnormal", "Grasp the paper box", "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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_back_left_fisheye_rgb", "name": "cam_back_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_back_right_fisheye_rgb", "name": "cam_back_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_center_fisheye_rgb", "name": "cam_high_center_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_left_fisheye_rgb", "name": "cam_high_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_right_fisheye_rgb", "name": "cam_high_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_back_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_back_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_center_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 41 ], "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open", "robot_pos_x_m", "robot_pos_y_m", "robot_pos_z_m", "robot_quat_x", "robot_quat_y", "robot_quat_z", "robot_quat_w" ] } }, "action_space": { "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", "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "AgiBot-g1_box_storage_c_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_back_left_fisheye_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_back_right_fisheye_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_high_center_fisheye_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_high_left_fisheye_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_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_high_right_fisheye_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "box_storage_c", "dataset_uuid": null, "task_descriptions": [ "put the box on the table into the big box." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null } ], "-operation_platform_height": null, "device_model": [ "tianqing_a2d" ], "end_effector_type": "two_finger_gripper" } }, "R1_Lite_open_and_close_nightstand_drawer": { "dataset_name": "open_and_close_nightstand_drawer", "dataset_uuid": "f53ef972-f453-4892-bf9c-cd8d3c22762e", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place", "push" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "nightstand", "level1": "furniture", "level2": "nightstand", "level3": null, "level4": null, "level5": null }, { "object_name": "remote_control", "level1": "electric_appliance", "level2": "remote_control", "level3": null, "level4": null, "level5": null }, { "object_name": "tissue", "level1": "daily_necessities", "level2": "tissue", "level3": null, "level4": null, "level5": null } ], "path": "R1_Lite_open_and_close_nightstand_drawer", "video_url": "./assets/videos/R1_Lite_open_and_close_nightstand_drawer.mp4", "thumbnail_url": "./assets/thumbnails/R1_Lite_open_and_close_nightstand_drawer.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "7.1GB", "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": "R1_Lite", "codebase_version": "v2.1", "statistics": { "total_episodes": 77, "total_frames": 104258, "total_tasks": 1, "total_videos": 231, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:76" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "put remote tissue in drawer then take out and close.", "sub_tasks": [ "Open the nightstand drawer", "Put the remote controls on the table in the drawer one by one", "Take the remote control out of the drawer one by one and place them on the table", "Take the tissue out of the drawer one by one and place them on the table", "Close the nightstand drawer", "Put the tissue on the table in the drawer one by one", "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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "R1_Lite_open_and_close_nightstand_drawer_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "open_and_close_nightstand_drawer", "dataset_uuid": null, "task_descriptions": [ "open the drawer and put tissues in and out, then close the drawer." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place", "push" ], "objects": [ { "object_name": "nightstand", "level1": "furniture", "level2": "nightstand", "level3": null, "level4": null, "level5": null }, { "object_name": "remote_control", "level1": "electric_appliance", "level2": "remote_control", "level3": null, "level4": null, "level5": null }, { "object_name": "tissue", "level1": "daily_necessities", "level2": "tissue", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "galaxea_r1_lite" ], "end_effector_type": "two_finger_gripper" } }, "leju_robot_hotel_services_aa": { "dataset_name": "hotel_services_aa", "dataset_uuid": "dcd0025f-866e-4a2c-8898-6bf7dc424bc2", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "five_finger_hand" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "card", "level1": "nfc", "level2": "card", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "sensor", "level1": "electronic_products", "level2": "sensor", "level3": null, "level4": null, "level5": null } ], "path": "leju_robot_hotel_services_aa", "video_url": "./assets/videos/leju_robot_hotel_services_aa.mp4", "thumbnail_url": "./assets/thumbnails/leju_robot_hotel_services_aa.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "4.5GB", "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": "leju_robot", "codebase_version": "v2.1", "statistics": { "total_episodes": 419, "total_frames": 70570, "total_tasks": 1, "total_videos": 1257, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:418" }, "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.camera_head_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_left_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_right_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "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": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] }, "action": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "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": "take out the card place it on the sensor for recognition and then transfer it.", "sub_tasks": [ "End", "Take out the room card with right gripper", "Hand the room card to the guest with right gripper", "Hand the room card to the target.", "Pick up the room card from the card holder.", "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.camera_head_rgb", "name": "camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_left_wrist_rgb", "name": "camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_right_wrist_rgb", "name": "camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] } }, "action_space": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "leju_robot_hotel_services_aa_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.camera_head_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.camera_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.camera_right_wrist_rgb/\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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "hotel_services_aa", "dataset_uuid": null, "task_descriptions": [ "pick room card from front box and give room card." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "card", "level1": "nfc", "level2": "card", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "sensor", "level1": "electronic_products", "level2": "sensor", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "leju_kuavo_4_pro" ], "end_effector_type": "five_finger_gripper" } }, "G1edu-u3_pick_apple_b": { "dataset_name": "pick_apple_b", "dataset_uuid": "5cb12579-7559-4cdb-b6c3-8ffb1f039b19", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick" ], "end_effector_type": [ "three_finger_hand" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "apple", "level1": "food", "level2": "apple", "level3": null, "level4": null, "level5": null } ], "path": "G1edu-u3_pick_apple_b", "video_url": "./assets/videos/G1edu-u3_pick_apple_b.mp4", "thumbnail_url": "./assets/thumbnails/G1edu-u3_pick_apple_b.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "1K-10K", "dataset_size": "102.4MB", "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": "G1edu-u3", "codebase_version": "v2.1", "statistics": { "total_episodes": 26, "total_frames": 8289, "total_tasks": 1, "total_videos": 26, "total_chunks": 1, "chunks_size": 26, "fps": 30 }, "splits": { "train": "0:25" }, "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.ego_view": { "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.state": { "dtype": "float32", "shape": [ 30 ], "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": [ 30 ], "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": "float64", "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": "Pick up the red apple\nPick up the red apple\nPick up the water bottle\nPick up the water bottle\nPick up the white cup\nPick up the lemon\nPlace the red apple\nPlace the red apple in the basket\nPlace the red apple on the blue rectangle plate\nPlace the red apple on the orange round plate\nPlace the water bottle\nPlace the water bottle\nPlace the white cup\nPlace the lemon on the blue rectangle plate\nPlace the lemon on the orange round plate", "sub_tasks": [ "End", "Grasp the apple and lift it to the center of the view with right gripper", "Grasp the apple and lift it to the center of the view with 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.ego_view", "name": "ego_view", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.ego_view", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channel" ] } ], "state": { "dtype": "float32", "shape": [ 30 ], "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_space": { "dtype": "float32", "shape": [ 30 ], "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "G1edu-u3_pick_apple_b_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.ego_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "pick_apple_b", "dataset_uuid": null, "task_descriptions": [ "pick up the apple on the table." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "apple", "level1": "food", "level2": "apple", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "unitree_g1" ], "end_effector_type": "three_finger_hand" } }, "leju_robot_hotel_services_ae": { "dataset_name": "hotel_services_ae", "dataset_uuid": "91537f29-b5ac-455f-bfdf-78d671e6f66d", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "five_finger_hand" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "card", "level1": "nfc", "level2": "card", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "sensor", "level1": "electronic_products", "level2": "sensor", "level3": null, "level4": null, "level5": null } ], "path": "leju_robot_hotel_services_ae", "video_url": "./assets/videos/leju_robot_hotel_services_ae.mp4", "thumbnail_url": "./assets/thumbnails/leju_robot_hotel_services_ae.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "5.0GB", "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": "leju_robot", "codebase_version": "v2.1", "statistics": { "total_episodes": 449, "total_frames": 78394, "total_tasks": 1, "total_videos": 1347, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:448" }, "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.camera_head_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_left_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_right_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "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": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] }, "action": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "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": "take out the card place it on the sensor for recognition and then transfer it.", "sub_tasks": [ "Pick up the key card from the card box.", "Hand the key card to the target.", "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.camera_head_rgb", "name": "camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_left_wrist_rgb", "name": "camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_right_wrist_rgb", "name": "camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] } }, "action_space": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "leju_robot_hotel_services_ae_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.camera_head_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.camera_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.camera_right_wrist_rgb/\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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "hotel_services_ae", "dataset_uuid": null, "task_descriptions": [ "pick room card from front box and give room card." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "card", "level1": "nfc", "level2": "card", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "sensor", "level1": "electronic_products", "level2": "sensor", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "leju_kuavo_4_pro" ], "end_effector_type": "five_finger_gripper" } }, "Cobot_Magic_clear_the_desktop": { "dataset_name": "clear_the_desktop", "dataset_uuid": "1ef1c2b2-61c3-459c-a45b-332abc0bdb3e", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "rag", "level1": "clothing", "level2": "rag", "level3": null, "level4": null, "level5": null }, { "object_name": "coffee_stains", "level1": "garbage", "level2": "coffee_stains", "level3": null, "level4": null, "level5": null } ], "path": "Cobot_Magic_clear_the_desktop", "video_url": "./assets/videos/Cobot_Magic_clear_the_desktop.mp4", "thumbnail_url": "./assets/thumbnails/Cobot_Magic_clear_the_desktop.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "1018.3MB", "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": "Cobot_Magic", "codebase_version": "v2.1", "statistics": { "total_episodes": 293, "total_frames": 157415, "total_tasks": 3, "total_videos": 879, "total_chunks": 1, "chunks_size": 1000, "fps": 50 }, "splits": { "train": "0:292" }, "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": 50, "video.channels": 3, "has_audio": false } }, "observation.images.cam_left_wrist_rgb_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": 50, "video.channels": 3, "has_audio": false } }, "observation.images.cam_right_wrist_rgb_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": 50, "video.channels": 3, "has_audio": false } }, "observation.state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "wipe the coffee stains on the table with a green rag.\nwipe the coffee stains on the table with a pink rag.\nwipe the coffee stains on the table with a blue rag.", "sub_tasks": [ "Place the tablecloth", "Sweep the stains on the table", "End", "Sweep the stains on the table with the right gripper", "Place the tablecloth with the right gripper", "Pick up the tablecloth", "Pick up the tablecloth with the right 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": 50, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb_rgb", "name": "cam_left_wrist_rgb_rgb", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 50, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb_rgb", "name": "cam_right_wrist_rgb_rgb", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 50, "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_rgb", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb_rgb", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Cobot_Magic_clear_the_desktop_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_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_rgb/\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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "clear_the_desktop", "dataset_uuid": null, "task_descriptions": [ "wipe the coffee stains on the table with a green rag.", "wipe the coffee stains on the table with a pink rag.", "wipe the coffee stains on the table with a blue rag." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "rag", "level1": "clothing", "level2": "rag", "level3": null, "level4": null, "level5": null }, { "object_name": "coffee_stains", "level1": "garbage", "level2": "coffee_stains", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "agilex_cobot_decoupled_magic" ], "end_effector_type": "two_finger_gripper" } }, "leju_robot_moving_parts_h": { "dataset_name": "moving_parts_h", "dataset_uuid": "27a39264-c303-45a1-9046-1419479116fb", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "end_effector_type": [ "five_finger_hand" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "cabinet", "level1": "furniture", "level2": "cabinet", "level3": null, "level4": null, "level5": null }, { "object_name": "parts", "level1": "mechanical_parts", "level2": "parts", "level3": null, "level4": null, "level5": null } ], "path": "leju_robot_moving_parts_h", "video_url": "./assets/videos/leju_robot_moving_parts_h.mp4", "thumbnail_url": "./assets/thumbnails/leju_robot_moving_parts_h.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "14.5GB", "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": "leju_robot", "codebase_version": "v2.1", "statistics": { "total_episodes": 162, "total_frames": 234391, "total_tasks": 1, "total_videos": 486, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:161" }, "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.camera_head_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_left_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_right_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "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": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] }, "action": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "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": "take the parts from the cabinet and place them on the table.", "sub_tasks": [ "Grasp the gray part with right gripper", "Insert the small component into the corresponding slot on the workbench.", "Move to the table behind body", "Grasp the white part with right gripper", "Abnormal", "Move the small component to the workbench.", "Place the gray part on the table with right gripper", "Place the white part on the table with right gripper", "End", "Pick up the small component from the shelf.", "Return to the initial position at the workbench.", "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.camera_head_rgb", "name": "camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_left_wrist_rgb", "name": "camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_right_wrist_rgb", "name": "camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] } }, "action_space": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "leju_robot_moving_parts_h_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.camera_head_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.camera_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.camera_right_wrist_rgb/\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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "moving_parts_h", "dataset_uuid": null, "task_descriptions": [ "take the parts from the cabinet and place them on the table." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "cabinet", "level1": "furniture", "level2": "cabinet", "level3": null, "level4": null, "level5": null }, { "object_name": "parts", "level1": "mechanical_parts", "level2": "parts", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "leju_robot" ], "end_effector_type": "two_finger_gripper" } }, "AIRBOT_MMK2_beauty_sponge_and_cake_to_place": { "dataset_name": "beauty_sponge_and_cake_to_place", "dataset_uuid": "c4b8c5b1-7a57-48f3-9074-c2a019dbfd16", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "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": "beauty_blender", "level1": "tools", "level2": "beauty_blender", "level3": null, "level4": null, "level5": null }, { "object_name": "cake", "level1": "food", "level2": "cake", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null } ], "path": "AIRBOT_MMK2_beauty_sponge_and_cake_to_place", "video_url": "./assets/videos/AIRBOT_MMK2_beauty_sponge_and_cake_to_place.mp4", "thumbnail_url": "./assets/thumbnails/AIRBOT_MMK2_beauty_sponge_and_cake_to_place.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "1K-10K", "dataset_size": "394.9MB", "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": 50, "total_frames": 8096, "total_tasks": 1, "total_videos": 200, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:49" }, "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": "Take the bullet out of the plate with one hand and place it on the table, then pick up the cake on the table with your other hand and put it on the plate.", "sub_tasks": [ "Grasp the cake on the table with the right gripper", "End", "Abnormal", "Place the cake into the plate with the right gripper", "Place the bullet on the table with the left gripper", "Static", "Grasp the bullet into the plate 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_beauty_sponge_and_cake_to_place_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "beauty_sponge_and_cake_to_place", "dataset_uuid": null, "task_descriptions": [ "take the beauty blender out of the plate with your left hand and place it on the table, then pick up the cake on the table with your right hand and put it on the plate." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "beauty_blender", "level1": "tools", "level2": "beauty_blender", "level3": null, "level4": null, "level5": null }, { "object_name": "cake", "level1": "food", "level2": "cake", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "discover_robotics_aitbot_mmk2" ], "end_effector_type": "two_finger_gripper" } }, "G1edu-u3_pick_up_the_bottled_water_a": { "dataset_name": "pick_up_the_bottled_water_a", "dataset_uuid": "e56a77d6-dbe5-4d31-a397-61ccb616903c", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick" ], "end_effector_type": [ "three_finger_hand" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "bottle", "level1": "container", "level2": "bottle", "level3": null, "level4": null, "level5": null }, { "object_name": "water", "level1": "drink", "level2": "water", "level3": null, "level4": null, "level5": null } ], "path": "G1edu-u3_pick_up_the_bottled_water_a", "video_url": "./assets/videos/G1edu-u3_pick_up_the_bottled_water_a.mp4", "thumbnail_url": "./assets/thumbnails/G1edu-u3_pick_up_the_bottled_water_a.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "153.0MB", "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": "G1edu-u3", "codebase_version": "v2.1", "statistics": { "total_episodes": 29, "total_frames": 12057, "total_tasks": 1, "total_videos": 29, "total_chunks": 1, "chunks_size": 29, "fps": 30 }, "splits": { "train": "0:28" }, "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.ego_view": { "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.state": { "dtype": "float32", "shape": [ 30 ], "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": [ 30 ], "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": "float64", "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": "Pick up the red apple\nPick up the red apple\nPick up the water bottle\nPick up the water bottle\nPick up the white cup\nPick up the lemon\nPlace the red apple\nPlace the red apple in the basket\nPlace the red apple on the blue rectangle plate\nPlace the red apple on the orange round plate\nPlace the water bottle\nPlace the water bottle\nPlace the white cup\nPlace the lemon on the blue rectangle plate\nPlace the lemon on the orange round plate", "sub_tasks": [ "Grasp the water bottle and lift it to the center of the view with right gripper", "Grasp the water bottle and lift it to the center of the view with left gripper", "End", "Abnormal", "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.ego_view", "name": "ego_view", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.ego_view", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channel" ] } ], "state": { "dtype": "float32", "shape": [ 30 ], "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_space": { "dtype": "float32", "shape": [ 30 ], "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "G1edu-u3_pick_up_the_bottled_water_a_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.ego_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "pick_up_the_bottled_water_a", "dataset_uuid": null, "task_descriptions": [ "pick up the water bottle on the table." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "bottle", "level1": "container", "level2": "bottle", "level3": null, "level4": null, "level5": null }, { "object_name": "water", "level1": "drink", "level2": "water", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "unitree_g1" ], "end_effector_type": "three_finger_hand" } }, "G1edu-u3_basket_storage_apple": { "dataset_name": "basket_storage_apple", "dataset_uuid": "ad45e74b-fccc-4f12-9f34-a2312636f61c", "scene_type": [ "home", "kitchen" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "three_finger_hand" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "apple", "level1": "fruit", "level2": "apple", "level3": null, "level4": null, "level5": null }, { "object_name": "basket", "level1": "container", "level2": "basket", "level3": null, "level4": null, "level5": null } ], "path": "G1edu-u3_basket_storage_apple", "video_url": "./assets/videos/G1edu-u3_basket_storage_apple.mp4", "thumbnail_url": "./assets/thumbnails/G1edu-u3_basket_storage_apple.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "1.5GB", "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": "G1edu-u3", "codebase_version": "v2.1", "statistics": { "total_episodes": 88, "total_frames": 45574, "total_tasks": 1, "total_videos": 264, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:87" }, "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.color_left_wrist": { "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.color_right_wrist": { "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": [ 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 }, "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": "pick up the apple from the table and place it into the basket.", "sub_tasks": [ "Grasp the apple with the left gripper", "Place the apple into the basket with the left gripper", "End", "Static", "Move the basket to the front of the table with the right gripper", "Grasp the basket with the right 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.color_left_wrist", "name": "color_left_wrist", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 30, "is_depth": false }, { "key": "observation.images.color_right_wrist", "name": "color_right_wrist", "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.color_left_wrist", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.color_right_wrist", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ] } ], "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_space": { "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "G1edu-u3_basket_storage_apple_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.color_left_wrist/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.color_right_wrist/\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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "basket_storage_apple", "dataset_uuid": null, "task_descriptions": [ "pick up the apple from the table and place it into the basket." ], "scene_type": [ "home", "kitchen" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "apple", "level1": "fruit", "level2": "apple", "level3": null, "level4": null, "level5": null }, { "object_name": "basket", "level1": "container", "level2": "basket", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "unitree_g1" ], "end_effector_type": "five_finger_hand" } }, "R1_Lite_open_and_close_the_freezer_door": { "dataset_name": "open_and_close_the_freezer_door", "dataset_uuid": "d59cd2ec-8eab-40f4-a630-29a9bbc3f309", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place", "open" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "freezer", "level1": "furniture", "level2": "freezer", "level3": null, "level4": null, "level5": null }, { "object_name": "ceramic_cup", "level1": "container", "level2": "ceramic_cup", "level3": null, "level4": null, "level5": null }, { "object_name": "yogurt", "level1": "food", "level2": "yogurt", "level3": null, "level4": null, "level5": null }, { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "paper_cup", "level1": "container", "level2": "paper_cup", "level3": null, "level4": null, "level5": null } ], "path": "R1_Lite_open_and_close_the_freezer_door", "video_url": "./assets/videos/R1_Lite_open_and_close_the_freezer_door.mp4", "thumbnail_url": "./assets/thumbnails/R1_Lite_open_and_close_the_freezer_door.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "6.6GB", "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": "R1_Lite", "codebase_version": "v2.1", "statistics": { "total_episodes": 93, "total_frames": 170369, "total_tasks": 1, "total_videos": 279, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:92" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "put yogurt cups in freezer then take out and close.", "sub_tasks": [ "Abnormal", "End", "Place the ceramic cup on the table", "Put the yoghurt in the freezer", "Take the paper cup out of the freezer", "Place the yoghurt on the table", "Take the ceramic cup out of the freezer", "Put the ceramic cup in the freezer", "Take the yogurt out of the freezer", "Open the freezer door", "Put the paper cup in the freezer", "Put the yogurt in the freezer", "Place the paper cup on the table", "Close the freezer door", "Grasp the yogur", "Place the yoghurt on the freezer", "Place the yogurt on the table", "Take the yoghurt out of the freezer", "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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "R1_Lite_open_and_close_the_freezer_door_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "putting_in_and_taking_out_items", "dataset_uuid": null, "task_descriptions": [ "open the refrigerator door and put the yogurt cup into the refrigerator. close the refrigerator door and take out the yogurt cup. close the refrigerator door." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place", "open" ], "objects": [ { "object_name": "freezer", "level1": "furniture", "level2": "freezer", "level3": null, "level4": null, "level5": null }, { "object_name": "ceramic_cup", "level1": "container", "level2": "ceramic_cup", "level3": null, "level4": null, "level5": null }, { "object_name": "yogurt", "level1": "food", "level2": "yogurt", "level3": null, "level4": null, "level5": null }, { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "paper_cup", "level1": "container", "level2": "paper_cup", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "galaxea_r1_lite" ], "end_effector_type": "two_finger_gripper" } }, "leju_robot_moving_parts_o": { "dataset_name": "moving_parts_o", "dataset_uuid": "27cad5ab-323b-4157-acc6-9f7405263110", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "end_effector_type": [ "five_finger_hand" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "cabinet", "level1": "furniture", "level2": "cabinet", "level3": null, "level4": null, "level5": null }, { "object_name": "parts", "level1": "mechanical_parts", "level2": "parts", "level3": null, "level4": null, "level5": null } ], "path": "leju_robot_moving_parts_o", "video_url": "./assets/videos/leju_robot_moving_parts_o.mp4", "thumbnail_url": "./assets/thumbnails/leju_robot_moving_parts_o.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "51.1GB", "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": "leju_robot", "codebase_version": "v2.1", "statistics": { "total_episodes": 490, "total_frames": 745064, "total_tasks": 1, "total_videos": 1470, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:489" }, "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.camera_head_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_left_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_right_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "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": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "left_eef_pos_x_m", 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"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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "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": "take the parts from the cabinet and place them on the table.", "sub_tasks": [ "Return to the initial position at the shelf", "Grasp the black part with right gripper", "End", "Pick up the large material from the shelf", "Place the black part on the table with right gripper", "Move to the table behind body", "Move the large material to the workbench", "Insert the large material into the corresponding slot on the workbench", "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.camera_head_rgb", "name": "camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_left_wrist_rgb", "name": "camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_right_wrist_rgb", "name": "camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] } }, "action_space": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "leju_robot_moving_parts_o_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.camera_head_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.camera_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.camera_right_wrist_rgb/\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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "moving_parts_o", "dataset_uuid": null, "task_descriptions": [ "take the parts from the cabinet and place them on the table." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "cabinet", "level1": "furniture", "level2": "cabinet", "level3": null, "level4": null, "level5": null }, { "object_name": "parts", "level1": "mechanical_parts", "level2": "parts", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "leju_robot" ], "end_effector_type": "two_finger_gripper" } }, "leju_robot_part_placement": { "dataset_name": "part_placement", "dataset_uuid": "41b426f1-987c-4320-8263-5f89139cf899", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "end_effector_type": [ "five_finger_hand" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "cabinet", "level1": "furniture", "level2": "cabinet", "level3": null, "level4": null, "level5": null }, { "object_name": "parts", "level1": "mechanical_parts", "level2": "parts", "level3": null, "level4": null, "level5": null } ], "path": "leju_robot_part_placement", "video_url": "./assets/videos/leju_robot_part_placement.mp4", "thumbnail_url": "./assets/thumbnails/leju_robot_part_placement.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "50.4GB", "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": "leju_robot", "codebase_version": "v2.1", "statistics": { "total_episodes": 538, "total_frames": 796570, "total_tasks": 1, "total_videos": 1614, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:537" }, "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.camera_head_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_left_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_right_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "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": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] }, "action": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "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": "pick up part from front cabinet turn around place on part at back table.", "sub_tasks": [ "Insert the small parts into the corresponding slots on the workbench.", "Move the large parts to the workbench.", "Pick up the large parts from the shelf.", "Grasp the black part with right gripper", "Grasp the gray part with right gripper", "End", "Return to the initial position at the workbench.", "Place the gray part on the table with right gripper", "Place the black part on the table with right gripper", "Move to the table behind body", "Insert the large parts into the corresponding slots on the workbench.", "Return to the initial position at the shelf.", "Move the small parts to the workbench.", "Pick up the small parts from the shelf.", "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.camera_head_rgb", "name": "camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_left_wrist_rgb", "name": "camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_right_wrist_rgb", "name": "camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] } }, "action_space": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "leju_robot_part_placement_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.camera_head_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.camera_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.camera_right_wrist_rgb/\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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "part_placement", "dataset_uuid": null, "task_descriptions": [ "pick up part from front cabinet turn around place on part at back table." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "cabinet", "level1": "furniture", "level2": "cabinet", "level3": null, "level4": null, "level5": null }, { "object_name": "parts", "level1": "mechanical_parts", "level2": "parts", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "two_finger_gripper" ], "end_effector_type": "five_finger_gripper" } }, "Cobot_Magic_move_the_ball": { "dataset_name": "move_the_ball", "dataset_uuid": "371a2f88-8a95-4044-ba5d-4c287fd9b679", "scene_type": [ "industry" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "ball", "level1": "toy", "level2": "ball", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null } ], "path": "Cobot_Magic_move_the_ball", "video_url": "./assets/videos/Cobot_Magic_move_the_ball.mp4", "thumbnail_url": "./assets/thumbnails/Cobot_Magic_move_the_ball.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "984.3MB", "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": "Cobot_Magic", "codebase_version": "v2.1", "statistics": { "total_episodes": 100, "total_frames": 58184, "total_tasks": 1, "total_videos": 300, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:99" }, "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.state": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "action": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "timestamp": { "dtype": "float32", "shape": [ 1 ], "names": null }, "frame_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "episode_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "task_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "subtask_annotation": { "names": null, "dtype": "int32", "shape": [ 5 ] }, "scene_annotation": { "names": null, "dtype": "int32", "shape": [ 1 ] }, "eef_sim_pose_state": { "names": [ "left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_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 ] }, "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 ] }, "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 ] } }, "tasks": "pick up the ball and place it on the plate, then pick up the ball from the plate and put it in the center of the table.", "sub_tasks": [ "Put the picked-up object on the table.", "Grab the rolling spherical object.", "Grab the spherical object with your left arm.", "Place the sphere on the white object.", "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 } ], "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" ] } ], "state": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] } }, "action_space": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Cobot_Magic_move_the_ball_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "move_the_ball", "dataset_uuid": null, "task_descriptions": [ "pick up the ball and place it on the plate, then pick up the ball from the plate and put it in the center of the table." ], "scene_type": [ "industry" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "ball", "level1": "toy", "level2": "ball", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "agilex_cobot_decoupled_magic" ], "end_effector_type": "two_finger_gripper" } }, "alpha_bot_2_press_the_button_a": { "dataset_name": "press_the_button_a", "dataset_uuid": "f687e0d9-d736-45a4-89f6-ef7ff90a103a", "scene_type": [ "home" ], "atomic_actions": [ "pressbutton" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "water_bottle", "level1": "container", "level2": "water_bottle", "level3": null, "level4": null, "level5": null }, { "object_name": "button", "level1": "toy", "level2": "button", "level3": null, "level4": null, "level5": null } ], "path": "alpha_bot_2_press_the_button_a", "video_url": "./assets/videos/alpha_bot_2_press_the_button_a.mp4", "thumbnail_url": "./assets/thumbnails/alpha_bot_2_press_the_button_a.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "1.9GB", "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": "alpha_bot_2", "codebase_version": "v2.1", "statistics": { "total_episodes": 116, "total_frames": 91452, "total_tasks": 1, "total_videos": 464, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:115" }, "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_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_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": [ 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", "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" ] }, "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", "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" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "after avoiding the water bottle on the table, press the button.", "sub_tasks": [ "End", "Press the button blocked by the bottle with right 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_chest_rgb", "name": "cam_chest_rgb", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_head_rgb", "name": "cam_head_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 } ], "observation_space": { "images": [ { "key": "observation.images.cam_chest_rgb", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_head_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" ] } ], "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", "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" ] } }, "action_space": { "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", "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "alpha_bot_2_press_the_button_a_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_chest_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_head_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "press_the_button_a", "task_descriptions": [ "after avoiding the water bottle on the table, press the button." ], "scene_type": [ "home" ], "atomic_actions": [ "pressbutton" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "water_bottle", "level1": "container", "level2": "water_bottle", "level3": null, "level4": null, "level5": null }, { "object_name": "button", "level1": "toy", "level2": "button", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "ai² aiphabot 2" ], "end_effector_type": "two_finger_gripper", "dataset_uuid": null } }, "Cobot_Magic_take_down_the_cube_block": { "dataset_name": "take_down_the_cube_block", "dataset_uuid": "7f574c98-c0ad-4579-9e57-57bace0ea765", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "cube_block", "level1": "toy", "level2": "cube_block", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null } ], "path": "Cobot_Magic_take_down_the_cube_block", "video_url": "./assets/videos/Cobot_Magic_take_down_the_cube_block.mp4", "thumbnail_url": "./assets/thumbnails/Cobot_Magic_take_down_the_cube_block.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "427.4MB", "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": "Cobot_Magic", "codebase_version": "v2.1", "statistics": { "total_episodes": 98, "total_frames": 19816, "total_tasks": 1, "total_videos": 294, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:97" }, "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.state": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "action": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "timestamp": { "dtype": "float32", "shape": [ 1 ], "names": null }, "frame_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "episode_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "task_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "subtask_annotation": { "names": null, "dtype": "int32", "shape": [ 5 ] }, "scene_annotation": { "names": null, "dtype": "int32", "shape": [ 1 ] }, "eef_sim_pose_state": { "names": [ "left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_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 ] }, "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 ] }, "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 ] } }, "tasks": "pick up the cube block from the rotating plate and place the cube block on the table.", "sub_tasks": [ "Abnormal", "End", "Place the cube on the table", "Place the cube on the desk", "Grasp the rotating cube-shaped block on the turntable", "Pick up the rotating cube block on the turntable", "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 } ], "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" ] } ], "state": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] } }, "action_space": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Cobot_Magic_take_down_the_cube_block_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "take_down_the_cube_block", "dataset_uuid": null, "task_descriptions": [ "pick up the cube block from the rotating plate and place the cube block on the table." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "cube_block", "level1": "toy", "level2": "cube_block", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "agilex_cobot_magic_aloha" ], "end_effector_type": "two_finger_gripper" } }, "alpha_bot_2_recover_after_touching_an_obstacle": { "dataset_name": "recover_after_touching_an_obstacle", "dataset_uuid": "aebc9a40-0a90-4fc3-a705-fbc5c7d23392", "scene_type": [ "home" ], "atomic_actions": [ "pick", "grasp", null ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "mineral_water", "level1": "drinks", "level2": "mineral_water", "level3": null, "level4": null, "level5": null }, { "object_name": "button", "level1": "toy", "level2": "button", "level3": null, "level4": null, "level5": null } ], "path": "alpha_bot_2_recover_after_touching_an_obstacle", "video_url": "./assets/videos/alpha_bot_2_recover_after_touching_an_obstacle.mp4", "thumbnail_url": "./assets/thumbnails/alpha_bot_2_recover_after_touching_an_obstacle.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "3.7GB", "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": "alpha_bot_2", "codebase_version": "v2.1", "statistics": { "total_episodes": 130, "total_frames": 128391, "total_tasks": 1, "total_videos": 520, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:129" }, "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_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_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": [ 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", "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" ] }, "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", "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" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "return to a safe position after touching an obstacle with your arm on the white table.", "sub_tasks": [ "Touch the bottle with left gripper", "End", "Touch the bottle with right 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_chest_rgb", "name": "cam_chest_rgb", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_head_rgb", "name": "cam_head_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 } ], "observation_space": { "images": [ { "key": "observation.images.cam_chest_rgb", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_head_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" ] } ], "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", "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" ] } }, "action_space": { "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", "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "alpha_bot_2_recover_after_touching_an_obstacle_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_chest_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_head_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "recover_after_touching_an_obstacle", "task_descriptions": [ "return to a safe position after touching an obstacle with your arm on the white table." ], "scene_type": [ "home" ], "atomic_actions": [ "pick", "grasp", null ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "mineral_water", "level1": "drinks", "level2": "mineral_water", "level3": null, "level4": null, "level5": null }, { "object_name": "button", "level1": "toy", "level2": "button", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "ai² aiphabot 2" ], "end_effector_type": "two_finger_gripper", "dataset_uuid": null } }, "leju_robot_pass_the_cleaner_a": { "dataset_name": "pass_the_cleaner_a", "dataset_uuid": "870e2a78-0b89-486a-bed4-12863a5b00d6", "scene_type": [ "home", "industry" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "five_finger_hand" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "cleaner", "level1": "daily_necessities", "level2": "cleaner", "level3": null, "level4": null, "level5": null } ], "path": "leju_robot_pass_the_cleaner_a", "video_url": "./assets/videos/leju_robot_pass_the_cleaner_a.mp4", "thumbnail_url": "./assets/thumbnails/leju_robot_pass_the_cleaner_a.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "8.7GB", "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": "leju_robot", "codebase_version": "v2.1", "statistics": { "total_episodes": 457, "total_frames": 169467, "total_tasks": 1, "total_videos": 1371, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:456" }, "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.camera_head_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_left_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_right_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "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": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] }, "action": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "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": "pick up the cleaner and put it on the table.", "sub_tasks": [ "Turn the bottle to the front side.", "Pick up the bottle from the table.", "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.camera_head_rgb", "name": "camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_left_wrist_rgb", "name": "camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_right_wrist_rgb", "name": "camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] } }, "action_space": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "leju_robot_pass_the_cleaner_a_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.camera_head_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.camera_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.camera_right_wrist_rgb/\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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "pass_the_cleaner_a", "dataset_uuid": null, "task_descriptions": [ "pick up the cleaner with right hand and passit to left hand then put it on the table." ], "scene_type": [ "home", "industry" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "cleaner", "level1": "daily_necessities", "level2": "cleaner", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "leju_robot" ], "end_effector_type": "two_finger_gripper" } }, "Galbot_g1_steamer_storage_baozi_a": { "dataset_name": "steamer_storage_baozi_a", "dataset_uuid": "1e479c19-9f69-42ac-9238-114fcf1a487c", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "end_effector_type": "two_finger_gripper", "operation_platform_height": 0.0, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "baozi", "level1": "food", "level2": "baozi", "level3": null, "level4": null, "level5": null }, { "object_name": "steamer", "level1": "container", "level2": "steamer", "level3": null, "level4": null, "level5": null }, { "object_name": "pot_lid", "level1": "daily_necessities", "level2": "pot_lid", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null } ], "path": "Galbot_g1_steamer_storage_baozi_a", "video_url": "./assets/videos/Galbot_g1_steamer_storage_baozi_a.mp4", "thumbnail_url": "./assets/thumbnails/Galbot_g1_steamer_storage_baozi_a.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "4.1GB", "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": "Galbot_g1", "codebase_version": "v2.1", "statistics": { "total_episodes": 258, "total_frames": 239780, "total_tasks": 1, "total_videos": 774, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:257" }, "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": [ 368, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 368, "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": [ 368, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 368, "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": [ 49 ], "names": [ "body_joint_1_rad", "body_joint_2_rad", "body_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", "left_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm" ] }, "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", "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" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "take steamed baozi put them in steamer.", "sub_tasks": [ "Grasp the pot lid with left gripper", "Place the pot lid on the steamer with left gripper", "End", "Place the baozi on the steamer with right gripper", "Grasp the baozi in the plate with right 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": [ 368, 640, 3 ], "resolution": [ 368, 640 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 368, 640, 3 ], "resolution": [ 368, 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": [ 368, 640, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 368, 640, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 49 ], "names": [ "body_joint_1_rad", "body_joint_2_rad", "body_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", "left_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm" ] } }, "action_space": { "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", "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Galbot_g1_steamer_storage_baozi_a_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "steamer_storage_baozi_a", "dataset_uuid": null, "task_descriptions": [ "take steamed baozi put them in steamer then cover it." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "baozi", "level1": "food", "level2": "baozi", "level3": null, "level4": null, "level5": null }, { "object_name": "steamer", "level1": "container", "level2": "steamer", "level3": null, "level4": null, "level5": null }, { "object_name": "pot_lid", "level1": "daily_necessities", "level2": "pot_lid", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 0, "device_model": [ "galbo" ], "end_effector_type": "two_finger_gripper" } }, "G1edu-u3_pullBowl_storage_bread_a": { "dataset_name": "pullBowl_storage_bread_a", "dataset_uuid": "11ed8a7f-106a-4c08-98a4-0abdd1b97a52", "scene_type": [ "home", "kitchen" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "five_finger_hand", "three_finger_hand" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "plate_rack", "level1": "furniture", "level2": "plate_rack", "level3": null, "level4": null, "level5": null } ], "path": "G1edu-u3_pullBowl_storage_bread_a", "video_url": "./assets/videos/G1edu-u3_pullBowl_storage_bread_a.mp4", "thumbnail_url": "./assets/thumbnails/G1edu-u3_pullBowl_storage_bread_a.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "2.6GB", "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": "G1edu-u3", "codebase_version": "v2.1", "statistics": { "total_episodes": 178, "total_frames": 126861, "total_tasks": 1, "total_videos": 534, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:177" }, "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.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_left_high": { "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 }, "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": "Push the bowl into the center of the table and put the bread into the bowl.", "sub_tasks": [ "Abnormal", "Place the long bread in pink bowl with left hand", "End", "Grasp the round bread with left hand", "Grasp the long bread with left hand", "Place the round bread in pink bowl with left hand", "Move the pink bowl to the center of table with right hand", "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_left_high", "name": "cam_left_high", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist", "name": "cam_left_wrist", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist", "name": "cam_right_wrist", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_left_high", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channel" ] }, { "key": "observation.images.cam_left_wrist", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channel" ] }, { "key": "observation.images.cam_right_wrist", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channel" ] } ], "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_space": { "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "G1edu-u3_pullBowl_storage_bread_a_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_left_high/\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/\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/\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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "pullBowl_storage_bread_a", "dataset_uuid": null, "task_descriptions": [ "pick up the plate from the table and place it on the plate rack." ], "scene_type": [ "home", "kitchen" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "plate_rack", "level1": "furniture", "level2": "plate_rack", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "unitree_g1" ], "end_effector_type": [ "five_finger_hand", "three_finger_hand" ] } }, "R1_Lite_move_the_position_of_the_brush": { "dataset_name": "move_the_position_of_the_brush", "dataset_uuid": "0626d7f7-69b7-4fb0-9edc-8ba92d1df7cf", "scene_type": [ "home" ], "atomic_actions": [ "place", "pick", "grasp" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "pen", "level1": "office_supplies", "level2": "pen", "level3": null, "level4": null, "level5": null }, { "object_name": "banana", "level1": "fruit", "level2": "banana", "level3": null, "level4": null, "level5": null }, { "object_name": "bath_ball", "level1": "daily_necessities", "level2": "bath_ball", "level3": null, "level4": null, "level5": null }, { "object_name": "bowl", "level1": "container", "level2": "bowl", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "can", "level1": "container", "level2": "can", "level3": null, "level4": null, "level5": null }, { "object_name": "eraser", "level1": "office_supplies", "level2": "eraser", "level3": null, "level4": null, "level5": null }, { "object_name": "hard_cleanser", "level1": "daily_necessities", "level2": "hard_cleanser", "level3": null, "level4": null, "level5": null }, { "object_name": "long_bread", "level1": "food", "level2": "long_bread", "level3": null, "level4": null, "level5": null }, { "object_name": "peeler", "level1": "tool", "level2": "peeler", "level3": null, "level4": null, "level5": null }, { "object_name": "block", "level1": "toy", "level2": "block", "level3": null, "level4": null, "level5": null }, { "object_name": "duck", "level1": "toy", "level2": "duck", "level3": null, "level4": null, "level5": null }, { "object_name": "soap", "level1": "daily_necessities", "level2": "soap", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "basket", "level1": "container", "level2": "basket", "level3": null, "level4": null, "level5": null }, { "object_name": "cola", "level1": "drink", "level2": "cola", "level3": null, "level4": null, "level5": null }, { "object_name": "detergent", "level1": "daily_necessities", "level2": "detergent", "level3": null, "level4": null, "level5": null }, { "object_name": "egg_beater", "level1": "electrical_appliances", "level2": "egg_beater", "level3": null, "level4": null, "level5": null }, { "object_name": "towel", "level1": "clothing", "level2": "towel", "level3": null, "level4": null, "level5": null }, { "object_name": "orange", "level1": "fruit", "level2": "orange", "level3": null, "level4": null, "level5": null }, { "object_name": "peach", "level1": "fruit", "level2": "peach", "level3": null, "level4": null, "level5": null }, { "object_name": "marker", "level1": "office_supplies", "level2": "marker", "level3": null, "level4": null, "level5": null }, { "object_name": "rubiks_cube", "level1": "toy", "level2": "rubiks_cube", "level3": null, "level4": null, "level5": null }, { "object_name": "bread_slice", "level1": "food", "level2": "bread_slice", "level3": null, "level4": null, "level5": null }, { "object_name": "brush", "level1": "daily_necessities", "level2": "brush", "level3": null, "level4": null, "level5": null }, { "object_name": "yogurt", "level1": "drink", "level2": "yogurt", "level3": null, "level4": null, "level5": null }, { "object_name": "power_strip", "level1": "electric_appliance", "level2": "power_strip", "level3": null, "level4": null, "level5": null }, { "object_name": "milk", "level1": "drink", "level2": "milk", "level3": null, "level4": null, "level5": null }, { "object_name": "soda", "level1": "drink", "level2": "soda", "level3": null, "level4": null, "level5": null }, { "object_name": "lime", "level1": "fruit", "level2": "lime", "level3": null, "level4": null, "level5": null }, { "object_name": "coffee_capsule", "level1": "drink", "level2": "coffee_capsule", "level3": null, "level4": null, "level5": null }, { "object_name": "dish", "level1": "container", "level2": "dish", "level3": null, "level4": null, "level5": null }, { "object_name": "glass", "level1": "furniture", "level2": "glass", "level3": null, "level4": null, "level5": null }, { "object_name": "egg_yolk_pastry", "level1": "food", "level2": "egg_yolk_pastry", "level3": null, "level4": null, "level5": null }, { "object_name": "glasses_case", "level1": "daily_necessities", "level2": "glasses_case", "level3": null, "level4": null, "level5": null }, { "object_name": "gum", "level1": "daily_necessities", "level2": "gum", "level3": null, "level4": null, "level5": null }, { "object_name": "tape", "level1": "daily_necessities", "level2": "tape", "level3": null, "level4": null, "level5": null }, { "object_name": "soft_cleanser", "level1": "daily_necessities", "level2": "soft_cleanser", "level3": null, "level4": null, "level5": null }, { "object_name": "chips", "level1": "food", "level2": "chips", "level3": null, "level4": null, "level5": null }, { "object_name": "chocolate", "level1": "food", "level2": "chocolate", "level3": null, "level4": null, "level5": null }, { "object_name": "cookie", "level1": "food", "level2": "cookie", "level3": null, "level4": null, "level5": null }, { "object_name": "spoon", "level1": "tableware", "level2": "spoon", "level3": null, "level4": null, "level5": null } ], "path": "R1_Lite_move_the_position_of_the_brush", "video_url": "./assets/videos/R1_Lite_move_the_position_of_the_brush.mp4", "thumbnail_url": "./assets/thumbnails/R1_Lite_move_the_position_of_the_brush.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "677.0MB", "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": "R1_Lite", "codebase_version": "v2.1", "statistics": { "total_episodes": 63, "total_frames": 17774, "total_tasks": 1, "total_videos": 252, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:62" }, "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_left_rgb": { "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_right_rgb": { "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 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" ] }, "action": { "dtype": "float32", "shape": [ 18 ], "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 }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "put the brush in the designated position.", "sub_tasks": [ "Static", "Place the brush on the table with right gripper", "Grasp the brush with right gripper", "Grasp the brush with left gripper", "Place the brush on the table with left gripper", "End", "Abnormal", "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_left_rgb", "name": "cam_high_left_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_right_rgb", "name": "cam_high_right_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_left_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_right_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "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" ] } }, "action_space": { "dtype": "float32", "shape": [ 18 ], "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "R1_Lite_move_the_position_of_the_brush_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_left_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_high_right_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "move_the_position_of_the_brush", "dataset_uuid": null, "task_descriptions": [ "put the brush in the designated position." ], "scene_type": [ "home" ], "atomic_actions": [ "place", "pick", "grasp" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "pen", "level1": "office_supplies", "level2": "pen", "level3": null, "level4": null, "level5": null }, { "object_name": "banana", "level1": "fruit", "level2": "banana", "level3": null, "level4": null, "level5": null }, { "object_name": "bath_ball", "level1": "daily_necessities", "level2": "bath_ball", "level3": null, "level4": null, "level5": null }, { "object_name": "bowl", "level1": "container", "level2": "bowl", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "can", "level1": "container", "level2": "can", "level3": null, "level4": null, "level5": null }, { "object_name": "eraser", "level1": "office_supplies", "level2": "eraser", "level3": null, "level4": null, "level5": null }, { "object_name": "hard_cleanser", "level1": "daily_necessities", "level2": "hard_cleanser", "level3": null, "level4": null, "level5": null }, { "object_name": "long_bread", "level1": "food", "level2": "long_bread", "level3": null, "level4": null, "level5": null }, { "object_name": "peeler", "level1": "tool", "level2": "peeler", "level3": null, "level4": null, "level5": null }, { "object_name": "block", "level1": "toy", "level2": "block", "level3": null, "level4": null, "level5": null }, { "object_name": "duck", "level1": "toy", "level2": "duck", "level3": null, "level4": null, "level5": null }, { "object_name": "soap", "level1": "daily_necessities", "level2": "soap", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "basket", "level1": "container", "level2": "basket", "level3": null, "level4": null, "level5": null }, { "object_name": "cola", "level1": "drink", "level2": "cola", "level3": null, "level4": null, "level5": null }, { "object_name": "detergent", "level1": "daily_necessities", "level2": "detergent", "level3": null, "level4": null, "level5": null }, { "object_name": "egg_beater", "level1": "electrical_appliances", "level2": "egg_beater", "level3": null, "level4": null, "level5": null }, { "object_name": "towel", "level1": "clothing", "level2": "towel", "level3": null, "level4": null, "level5": null }, { "object_name": "orange", "level1": "fruit", "level2": "orange", "level3": null, "level4": null, "level5": null }, { "object_name": "peach", "level1": "fruit", "level2": "peach", "level3": null, "level4": null, "level5": null }, { "object_name": "marker", "level1": "office_supplies", "level2": "marker", "level3": null, "level4": null, "level5": null }, { "object_name": "rubiks_cube", "level1": "toy", "level2": "rubiks_cube", "level3": null, "level4": null, "level5": null }, { "object_name": "bread_slice", "level1": "food", "level2": "bread_slice", "level3": null, "level4": null, "level5": null }, { "object_name": "brush", "level1": "daily_necessities", "level2": "brush", "level3": null, "level4": null, "level5": null }, { "object_name": "yogurt", "level1": "drink", "level2": "yogurt", "level3": null, "level4": null, "level5": null }, { "object_name": "power_strip", "level1": "electric_appliance", "level2": "power_strip", "level3": null, "level4": null, "level5": null }, { "object_name": "milk", "level1": "drink", "level2": "milk", "level3": null, "level4": null, "level5": null }, { "object_name": "soda", "level1": "drink", "level2": "soda", "level3": null, "level4": null, "level5": null }, { "object_name": "lime", "level1": "fruit", "level2": "lime", "level3": null, "level4": null, "level5": null }, { "object_name": "coffee_capsule", "level1": "drink", "level2": "coffee_capsule", "level3": null, "level4": null, "level5": null }, { "object_name": "dish", "level1": "container", "level2": "dish", "level3": null, "level4": null, "level5": null }, { "object_name": "glass", "level1": "furniture", "level2": "glass", "level3": null, "level4": null, "level5": null }, { "object_name": "egg_yolk_pastry", "level1": "food", "level2": "egg_yolk_pastry", "level3": null, "level4": null, "level5": null }, { "object_name": "glasses_case", "level1": "daily_necessities", "level2": "glasses_case", "level3": null, "level4": null, "level5": null }, { "object_name": "gum", "level1": "daily_necessities", "level2": "gum", "level3": null, "level4": null, "level5": null }, { "object_name": "tape", "level1": "daily_necessities", "level2": "tape", "level3": null, "level4": null, "level5": null }, { "object_name": "soft_cleanser", "level1": "daily_necessities", "level2": "soft_cleanser", "level3": null, "level4": null, "level5": null }, { "object_name": "chips", "level1": "food", "level2": "chips", "level3": null, "level4": null, "level5": null }, { "object_name": "chocolate", "level1": "food", "level2": "chocolate", "level3": null, "level4": null, "level5": null }, { "object_name": "cookie", "level1": "food", "level2": "cookie", "level3": null, "level4": null, "level5": null }, { "object_name": "spoon", "level1": "tableware", "level2": "spoon", "level3": null, "level4": null, "level5": null } ], "device_model": [ "galaxea_r1_lite" ], "end_effector_type": "two_finger_gripper", "operation_platform_height": 77.2 } }, "R1_Lite_boil_water_in_a_kettle": { "dataset_name": "boil_water_in_a_kettle", "dataset_uuid": "68764373-ee5e-45aa-ad8a-1ca6cf3e0834", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "stove_top", "level1": "furniture", "level2": "stove_top", "level3": null, "level4": null, "level5": null }, { "object_name": "boil_the_kettle", "level1": "electric_appliance", "level2": "boil_the_kettle", "level3": null, "level4": null, "level5": null }, { "object_name": "heating_plate", "level1": "electric_appliance", "level2": "heating_plate", "level3": null, "level4": null, "level5": null }, { "object_name": "sink", "level1": "container", "level2": "sink", "level3": null, "level4": null, "level5": null } ], "path": "R1_Lite_boil_water_in_a_kettle", "video_url": "./assets/videos/R1_Lite_boil_water_in_a_kettle.mp4", "thumbnail_url": "./assets/thumbnails/R1_Lite_boil_water_in_a_kettle.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "3.9GB", "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": "R1_Lite", "codebase_version": "v2.1", "statistics": { "total_episodes": 75, "total_frames": 85792, "total_tasks": 1, "total_videos": 225, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:74" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "place kettle on heating plate heat then set beside sink.", "sub_tasks": [ "Start boiling water", "Place it on the power base", "Finish boiling water", "abnormal", "Place it by the sink", "Pick up the kettle", "Grab the kettle", "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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "R1_Lite_boil_water_in_a_kettle_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "boil_water_in_a_kettle", "dataset_uuid": null, "task_descriptions": [ "place kettle on heating plate heat then set beside sink." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "stove_top", "level1": "furniture", "level2": "stove_top", "level3": null, "level4": null, "level5": null }, { "object_name": "boil_the_kettle", "level1": "electric_appliance", "level2": "boil_the_kettle", "level3": null, "level4": null, "level5": null }, { "object_name": "heating_plate", "level1": "electric_appliance", "level2": "heating_plate", "level3": null, "level4": null, "level5": null }, { "object_name": "sink", "level1": "container", "level2": "sink", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "galaxea_r1_lite" ], "end_effector_type": "two_finger_gripper" } }, "G1edu-u3_place_apple_c": { "dataset_name": "place_apple_c", "dataset_uuid": "fadd4ee3-65b3-497e-a817-3885814cab0c", "scene_type": [ "home" ], "atomic_actions": [ "pick", "place" ], "end_effector_type": [ "three_finger_hand" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "apple", "level1": "fruit", "level2": "apple", "level3": null, "level4": null, "level5": null } ], "path": "G1edu-u3_place_apple_c", "video_url": "./assets/videos/G1edu-u3_place_apple_c.mp4", "thumbnail_url": "./assets/thumbnails/G1edu-u3_place_apple_c.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "1K-10K", "dataset_size": "81.6MB", "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": "G1edu-u3", "codebase_version": "v2.1", "statistics": { "total_episodes": 29, "total_frames": 6567, "total_tasks": 1, "total_videos": 29, "total_chunks": 1, "chunks_size": 30, "fps": 30 }, "splits": { "train": "0:28" }, "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.ego_view": { "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.state": { "dtype": "float32", "shape": [ 30 ], "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": [ 30 ], "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": "float64", "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": "Pick up the red apple\nPick up the red apple\nPick up the water bottle\nPick up the water bottle\nPick up the white cup\nPick up the lemon\nPlace the red apple\nPlace the red apple in the basket\nPlace the red apple on the blue rectangle plate\nPlace the red apple on the orange round plate\nPlace the water bottle\nPlace the water bottle\nPlace the white cup\nPlace the lemon on the blue rectangle plate\nPlace the lemon on the orange round plate", "sub_tasks": [ "End", "Place the apple on the table with right gripper", "Place the apple on the table with 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.ego_view", "name": "ego_view", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.ego_view", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channel" ] } ], "state": { "dtype": "float32", "shape": [ 30 ], "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_space": { "dtype": "float32", "shape": [ 30 ], "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "G1edu-u3_place_apple_c_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.ego_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "place_apple_c", "dataset_uuid": null, "task_descriptions": [ "put the apple on the table." ], "scene_type": [ "home" ], "atomic_actions": [ "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "apple", "level1": "fruit", "level2": "apple", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "unitree_g1" ], "end_effector_type": "three_finger_hand" } }, "G1edu-u3_food_storage": { "dataset_name": "food_storage", "dataset_uuid": "4f2a72fa-3388-401a-ab17-b437417cce23", "scene_type": [ "home", "kitchen" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "three_finger_hand" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "basket", "level1": "container", "level2": "basket", "level3": null, "level4": null, "level5": null }, { "object_name": "bowl", "level1": "container", "level2": "bowl", "level3": null, "level4": null, "level5": null }, { "object_name": "donut", "level1": "food", "level2": "donut", "level3": null, "level4": null, "level5": null }, { "object_name": "cake", "level1": "food", "level2": "cake", "level3": null, "level4": null, "level5": null } ], "path": "G1edu-u3_food_storage", "video_url": "./assets/videos/G1edu-u3_food_storage.mp4", "thumbnail_url": "./assets/thumbnails/G1edu-u3_food_storage.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "13.6GB", "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": "G1edu-u3", "codebase_version": "v2.1", "statistics": { "total_episodes": 194, "total_frames": 319059, "total_tasks": 1, "total_videos": 582, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:193" }, "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.color_left_wrist": { "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.color_right_wrist": { "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": [ 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 }, "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": "pick up the donut from the bowl and place it in the plate, pick up the cake from the bowl and place it in the basket.", "sub_tasks": [ "Pour the cake into the basket with the left gripper", "Pick up the bread with the right gripper and place it on the plate", "Place the bowl on the table with the left gripper", "End", "Place the bowl in the center of the table with the left gripper", "Abnormal", "Push the bowl to the center of the table using the left gripper", "Grasp the bowl 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.color_left_wrist", "name": "color_left_wrist", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 30, "is_depth": false }, { "key": "observation.images.color_right_wrist", "name": "color_right_wrist", "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.color_left_wrist", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.color_right_wrist", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ] } ], "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_space": { "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "G1edu-u3_food_storage_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.color_left_wrist/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.color_right_wrist/\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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "food_storage", "dataset_uuid": null, "task_descriptions": [ "pick up the donut from the bowl and place it in the plate, pick up the cake from the bowl and place it in the basket." ], "scene_type": [ "home", "kitchen" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "basket", "level1": "container", "level2": "basket", "level3": null, "level4": null, "level5": null }, { "object_name": "bowl", "level1": "container", "level2": "bowl", "level3": null, "level4": null, "level5": null }, { "object_name": "donut", "level1": "food", "level2": "donut", "level3": null, "level4": null, "level5": null }, { "object_name": "cake", "level1": "food", "level2": "cake", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "unitree_g1" ], "end_effector_type": "five_finger_hand" } }, "Cobot_Magic_cube_reset": { "dataset_name": "cube_reset", "dataset_uuid": "5f4b3baf-119d-489b-b64d-59ea1b989422", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "cube_block", "level1": "toy", "level2": "cube_block", "level3": null, "level4": null, "level5": null }, { "object_name": "cube_groove", "level1": "container", "level2": "cube_groove", "level3": null, "level4": null, "level5": null } ], "path": "Cobot_Magic_cube_reset", "video_url": "./assets/videos/Cobot_Magic_cube_reset.mp4", "thumbnail_url": "./assets/thumbnails/Cobot_Magic_cube_reset.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "514.5MB", "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": "Cobot_Magic", "codebase_version": "v2.1", "statistics": { "total_episodes": 98, "total_frames": 28883, "total_tasks": 1, "total_videos": 294, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:97" }, "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.state": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "action": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "timestamp": { "dtype": "float32", "shape": [ 1 ], "names": null }, "frame_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "episode_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "task_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "subtask_annotation": { "names": null, "dtype": "int32", "shape": [ 5 ] }, "scene_annotation": { "names": null, "dtype": "int32", "shape": [ 1 ] }, "eef_sim_pose_state": { "names": [ "left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_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 ] }, "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 ] }, "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 ] } }, "tasks": "pick up the cube block and place it into the cube groove.", "sub_tasks": [ "End", "Pick up the cube", "Grasp the cube", "Place cube into the cube recess", "Place cube into the cube-shaped recess", "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 } ], "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" ] } ], "state": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] } }, "action_space": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Cobot_Magic_cube_reset_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "cube_reset", "dataset_uuid": null, "task_descriptions": [ "pick up the cube block and place it into the cube groove." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "cube_block", "level1": "toy", "level2": "cube_block", "level3": null, "level4": null, "level5": null }, { "object_name": "cube_groove", "level1": "container", "level2": "cube_groove", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "agilex_cobot_decoupled_magic" ], "end_effector_type": "two_finger_gripper" } }, "Split_aloha_fold_the_pants": { "dataset_name": "fold_the_pants", "dataset_uuid": "2d20404b-b035-4962-9e8e-055858867cb3", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "fold" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "pants", "level1": "clothing", "level2": "pants", "level3": null, "level4": null, "level5": null } ], "path": "Split_aloha_fold_the_pants", "video_url": "./assets/videos/Split_aloha_fold_the_pants.mp4", "thumbnail_url": "./assets/thumbnails/Split_aloha_fold_the_pants.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "8.3GB", "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": "Split_aloha", "codebase_version": "v2.1", "statistics": { "total_episodes": 494, "total_frames": 400404, "total_tasks": 4, "total_videos": 1482, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:493" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_left_wrist_rgb": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_right_wrist_rgb": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.state": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "action": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "timestamp": { "dtype": "float32", "shape": [ 1 ], "names": null }, "frame_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "episode_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "task_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "subtask_annotation": { "names": null, "dtype": "int32", "shape": [ 5 ] }, "scene_annotation": { "names": null, "dtype": "int32", "shape": [ 1 ] }, "eef_sim_pose_state": { "names": [ "left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_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 ] }, "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 ] }, "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 ] } }, "tasks": "the pants are placed with the back facing upwards, the cuffs facing to the left, the left gripper grasp the cuffs, the right gripper grasp the leg and fold it forward, the left gripper lift the folded cuffs and fold them against the leg, adjust the position of the pants to the center of the table.\nthe pants are placed with the back facing upwards, the cuffs facing to the right, the right gripper grasp the cuffs, the left gripper grasp the leg and fold it forward, the right gripper lift the folded cuffs and fold them against the leg, adjust the position of the pants to the center of the table.\nthe pants are placed with the front facing upwards, the cuffs facing to the left, the left gripper grasp the cuffs, the right gripper grasp the leg and fold it forward, the left gripper lift the folded cuffs and fold them against the leg, adjust the position of the pants to the center of the table.\nthe pants are placed with the front facing upwards, the cuffs facing to the right, the right gripper grasp the cuffs, the left gripper grasp the leg and fold it forward, the right gripper lift the folded cuffs and fold them against the leg, adjust the position of the pants to the center of the table.", "sub_tasks": [ "Fold the bottom of the pants upward", "Fold your pants from right to left", "Fold the pants from left to right", "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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "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 } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 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" ] } ], "state": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] } }, "action_space": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Split_aloha_fold_the_pants_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "fold_the_pants", "dataset_uuid": null, "task_descriptions": [ "the pants are placed with the back facing upwards, the cuffs facing to the left, the left gripper grasp the cuffs, the right gripper grasp the leg and fold it forward, the left gripper lift the folded cuffs and fold them against the leg, adjust the position of the pants to the center of the table.", "the pants are placed with the back facing upwards, the cuffs facing to the right, the right gripper grasp the cuffs, the left gripper grasp the leg and fold it forward, the right gripper lift the folded cuffs and fold them against the leg, adjust the position of the pants to the center of the table.", "the pants are placed with the front facing upwards, the cuffs facing to the left, the left gripper grasp the cuffs, the right gripper grasp the leg and fold it forward, the left gripper lift the folded cuffs and fold them against the leg, adjust the position of the pants to the center of the table.", "the pants are placed with the front facing upwards, the cuffs facing to the right, the right gripper grasp the cuffs, the left gripper grasp the leg and fold it forward, the right gripper lift the folded cuffs and fold them against the leg, adjust the position of the pants to the center of the table." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "fold" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "pants", "level1": "clothing", "level2": "pants", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "agilex_cobot_magic_aloha" ], "end_effector_type": "two_finger_gripper" } }, "G1edu-u3_place_metal_bowl_ae": { "dataset_name": "place_metal_bowl_ae", "dataset_uuid": "58ed5982-2a5f-4762-a995-5d590a2beeb4", "scene_type": [ "home" ], "atomic_actions": [ "pick", "place" ], "end_effector_type": [ "three_finger_hand" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "metal_bowl", "level1": "container", "level2": "metal_bowl", "level3": null, "level4": null, "level5": null } ], "path": "G1edu-u3_place_metal_bowl_ae", "video_url": "./assets/videos/G1edu-u3_place_metal_bowl_ae.mp4", "thumbnail_url": "./assets/thumbnails/G1edu-u3_place_metal_bowl_ae.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "1K-10K", "dataset_size": "120.4MB", "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": "G1edu-u3", "codebase_version": "v2.1", "statistics": { "total_episodes": 38, "total_frames": 7884, "total_tasks": 1, "total_videos": 38, "total_chunks": 1, "chunks_size": 39, "fps": 30 }, "splits": { "train": "0:37" }, "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.ego_view": { "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.state": { "dtype": "float32", "shape": [ 30 ], "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": [ 30 ], "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": "float64", "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": "Pick up the crumpled paper\nPick up the empty bottle\nPick up the leftover food\nPick up the metal bowl\nPick up the metal bowl\nPick up the plastic bowl\nPick up the plastic bowl\nPlace the metal bowl\nPlace the metal bowl\nPlace the plastic bowl\nPlace the plastic bowl", "sub_tasks": [ "Place the metal bowl on the table with left gripper", "End", "Place the metal bowl on the table with right 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.ego_view", "name": "ego_view", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.ego_view", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channel" ] } ], "state": { "dtype": "float32", "shape": [ 30 ], "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_space": { "dtype": "float32", "shape": [ 30 ], "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "G1edu-u3_place_metal_bowl_ae_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.ego_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "place_metal_bowl_ae", "dataset_uuid": null, "task_descriptions": [ "put the metal bowl on the table." ], "scene_type": [ "home" ], "atomic_actions": [ "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "metal_bowl", "level1": "container", "level2": "metal_bowl", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "unitree_g1" ], "end_effector_type": "three_finger_hand" } }, "AgiBot-g1_robotic_arm_picks_up_parts": { "dataset_name": "robotic_arm_picks_up_parts", "dataset_uuid": "9d81f45b-a37d-46ad-b5cd-899737518fb6", "scene_type": [ "factory" ], "atomic_actions": [ "place", "pick", "grasp" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "black_container", "level1": "container", "level2": "black_container", "level3": null, "level4": null, "level5": null }, { "object_name": "parts", "level1": "industrial_parts", "level2": "parts", "level3": null, "level4": null, "level5": null } ], "path": "AgiBot-g1_robotic_arm_picks_up_parts", "video_url": "./assets/videos/AgiBot-g1_robotic_arm_picks_up_parts.mp4", "thumbnail_url": "./assets/thumbnails/AgiBot-g1_robotic_arm_picks_up_parts.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "15.0GB", "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": "AgiBot-g1", "codebase_version": "v2.1", "statistics": { "total_episodes": 53, "total_frames": 30190, "total_tasks": 1, "total_videos": 424, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:52" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "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, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_back_left_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_back_right_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_center_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_left_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_right_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "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": [ 41 ], "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open", "robot_pos_x_m", "robot_pos_y_m", "robot_pos_z_m", "robot_quat_x", "robot_quat_y", "robot_quat_z", "robot_quat_w" ] }, "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", "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_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 }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "pick up parts and place them into a black container.", "sub_tasks": [ "Place the hard drive bracket into the box.", "Pick up the hard drive bracket from the feeding area.", "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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_back_left_fisheye_rgb", "name": "cam_back_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_back_right_fisheye_rgb", "name": "cam_back_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_center_fisheye_rgb", "name": "cam_high_center_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_left_fisheye_rgb", "name": "cam_high_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_right_fisheye_rgb", "name": "cam_high_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_back_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_back_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_center_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 41 ], "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open", "robot_pos_x_m", "robot_pos_y_m", "robot_pos_z_m", "robot_quat_x", "robot_quat_y", "robot_quat_z", "robot_quat_w" ] } }, "action_space": { "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", "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "AgiBot-g1_robotic_arm_picks_up_parts_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_back_left_fisheye_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_back_right_fisheye_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_high_center_fisheye_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_high_left_fisheye_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_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_high_right_fisheye_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "robotic_arm_picks_up_parts", "dataset_uuid": null, "task_descriptions": [ "pick up parts and place them into a black container." ], "scene_type": [ "factory" ], "atomic_actions": [ "place", "pick", "grasp" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "black_container", "level1": "container", "level2": "black_container", "level3": null, "level4": null, "level5": null }, { "object_name": "parts", "level1": "industrial_parts", "level2": "parts", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "tianqing_a2d" ], "end_effector_type": "two_finger_gripper" } }, "AIRBOT_MMK2_organize_books": { "dataset_name": "organize_books", "dataset_uuid": "b36aed44-2805-4713-8d48-a14bebf79671", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "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": "book", "level1": "office_supplies", "level2": "book", "level3": null, "level4": null, "level5": null }, { "object_name": "bookshelf", "level1": "container", "level2": "bookshelf", "level3": null, "level4": null, "level5": null } ], "path": "AIRBOT_MMK2_organize_books", "video_url": "./assets/videos/AIRBOT_MMK2_organize_books.mp4", "thumbnail_url": "./assets/thumbnails/AIRBOT_MMK2_organize_books.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "1K-10K", "dataset_size": "439.6MB", "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": 50, "total_frames": 9576, "total_tasks": 1, "total_videos": 200, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:49" }, "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": "Pick up the book on the table and put it into the bookshelf.", "sub_tasks": [ "Static", "Grasp the yellow book with the right gripper", "Place the yellow book into the front mezzanine of the bookshelf with the right gripper", "End", "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_organize_books_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "organize_books", "dataset_uuid": null, "task_descriptions": [ "pick up the book on the table with the right hand and put it into the bookshelf." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "book", "level1": "office_supplies", "level2": "book", "level3": null, "level4": null, "level5": null }, { "object_name": "bookshelf", "level1": "container", "level2": "bookshelf", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "airbot mmk2" ], "end_effector_type": "five_finger_hand" } }, "RMC-AIDA-L_fold_towel": { "dataset_name": "fold_towel", "dataset_uuid": "189eaf6e-2609-4e71-8e6e-e6393a5d259e", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick", "unfold" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "towel", "level1": "clothing", "level2": "towel", "level3": null, "level4": null, "level5": null } ], "path": "RMC-AIDA-L_fold_towel", "video_url": "./assets/videos/RMC-AIDA-L_fold_towel.mp4", "thumbnail_url": "./assets/thumbnails/RMC-AIDA-L_fold_towel.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "1.5GB", "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": "RMC-AIDA-L", "codebase_version": "v2.1", "statistics": { "total_episodes": 314, "total_frames": 139069, "total_tasks": 2, "total_videos": 942, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:313" }, "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.state": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] }, "action": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "take out a white towel and unfold it.\ntake out a black towel and unfold it.", "sub_tasks": [ "End", "Press and secure one corner of the towel with the right arm", "Unfold the towel with the left arm", "Press and secure one corner of the towel with the left arm", "Press and secure one corner of the towel with the right gripper", "Unfold the towel with the left gripper", "Unfold the towel with the right arm", "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 } ], "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" ] } ], "state": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] } }, "action_space": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "RMC-AIDA-L_fold_towel_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "fold_towel", "dataset_uuid": null, "task_descriptions": [ "take out a white towel and unfold it.", "take out a green towel and unfold it." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick", "unfold" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "towel", "level1": "clothing", "level2": "towel", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "realman rmc-aida-l" ], "end_effector_type": "two_finger_gripper" } }, "Cobot_Magic_box_storage_chopsticks": { "dataset_name": "box_storage_chopsticks", "dataset_uuid": "820026e7-2878-4127-b935-c5e584a825bc", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "tablecloth", "level1": "clothing", "level2": "tablecloth", "level3": null, "level4": null, "level5": null }, { "object_name": "pallet", "level1": "container", "level2": "pallet", "level3": null, "level4": null, "level5": null }, { "object_name": "chopsticks", "level1": "tableware", "level2": "chopsticks", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null } ], "path": "Cobot_Magic_box_storage_chopsticks", "video_url": "./assets/videos/Cobot_Magic_box_storage_chopsticks.mp4", "thumbnail_url": "./assets/thumbnails/Cobot_Magic_box_storage_chopsticks.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "6.4GB", "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": "Cobot_Magic", "codebase_version": "v2.1", "statistics": { "total_episodes": 499, "total_frames": 170337, "total_tasks": 6, "total_videos": 1497, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:498" }, "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_front_rgb": { "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "on blue tablecloth take chopsticks from black tray and put them in box.\non brown tablecloth take chopsticks from black tray and put them in box.\non green tablecloth take chopsticks from black tray and put them in box.\non pink tablecloth take chopsticks from black tray and put them in box.\non white black tablecloth take chopsticks from black tray and put them in box.\non white tablecloth take chopsticks from black tray and put them in box.", "sub_tasks": [ "use the right arm to put the chopsticks into the lunch box", "Abnormal", "use the left arm to grab a pair of chopsticks", "End", "Grasp the a pair of chopsticks with the left gripper", "Place the a pair of chopsticks in the box with the left gripper", "use the left arm to put the chopsticks into the lunch box", "use the right arm to grab a pair of chopsticks", "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_front_rgb", "name": "cam_front_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_front_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Cobot_Magic_box_storage_chopsticks_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_front_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "box_storage_chopsticks", "dataset_uuid": null, "task_descriptions": [ "on blue tablecloth take chopsticks from black tray and put them in box.", "on brown tablecloth take chopsticks from black tray and put them in box.", "on green tablecloth take chopsticks from black tray and put them in box.", "on pink tablecloth take chopsticks from black tray and put them in box.", "on white tablecloth take chopsticks from black tray and put them in box.", "on white black tablecloth take chopsticks from black tray and put them in box." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "tablecloth", "level1": "clothing", "level2": "tablecloth", "level3": null, "level4": null, "level5": null }, { "object_name": "pallet", "level1": "container", "level2": "pallet", "level3": null, "level4": null, "level5": null }, { "object_name": "chopsticks", "level1": "tableware", "level2": "chopsticks", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "agilex_cobot_magic_aloha" ], "end_effector_type": "two_finger_gripper" } }, "R1_Lite_peach_storage": { "dataset_name": "peach_storage", "dataset_uuid": "e596c797-57d3-4fbb-ba99-5dec78a4c0b2", "scene_type": [ "kitchen", "living_room" ], "atomic_actions": [ "grasp", "place", "pick" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "basket", "level1": "container", "level2": "basket", "level3": null, "level4": null, "level5": null }, { "object_name": "peach", "level1": "fruit", "level2": "peach", "level3": null, "level4": null, "level5": null } ], "path": "R1_Lite_peach_storage", "video_url": "./assets/videos/R1_Lite_peach_storage.mp4", "thumbnail_url": "./assets/thumbnails/R1_Lite_peach_storage.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "1.5GB", "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": "R1_Lite", "codebase_version": "v2.1", "statistics": { "total_episodes": 110, "total_frames": 31755, "total_tasks": 1, "total_videos": 440, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:109" }, "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_left_rgb": { "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_right_rgb": { "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 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" ] }, "action": { "dtype": "float32", "shape": [ 18 ], "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 }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "place the basket in the center of the table and align it, then put the peaches into the basket.", "sub_tasks": [ "End", "Place the light basket on the middle of the table with the left gripper", "Grasp the light basket with the left gripper", "Static", "Grasp the peach with the right gripper", "Place the peach into the light basket with the right 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_left_rgb", "name": "cam_high_left_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_right_rgb", "name": "cam_high_right_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_left_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_right_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "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" ] } }, "action_space": { "dtype": "float32", "shape": [ 18 ], "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "R1_Lite_peach_storage_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_left_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_high_right_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "peach_storage", "dataset_uuid": null, "task_descriptions": [ "place the basket in the center of the table and align it, then put the peaches into the basket." ], "scene_type": [ "kitchen", "living_room" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "basket", "level1": "container", "level2": "basket", "level3": null, "level4": null, "level5": null }, { "object_name": "peach", "level1": "fruit", "level2": "peach", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "galaxea_r1_lite" ], "end_effector_type": "two_finger_gripper" } }, "Cobot_Magic_turn_on_the_bulb": { "dataset_name": "turn_on_the_bulb", "dataset_uuid": "7bd56e56-b106-4062-8952-e5bffc346b4c", "scene_type": [ "home" ], "atomic_actions": [ "press" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "bulb", "level1": "tool", "level2": "bulb", "level3": null, "level4": null, "level5": null } ], "path": "Cobot_Magic_turn_on_the_bulb", "video_url": "./assets/videos/Cobot_Magic_turn_on_the_bulb.mp4", "thumbnail_url": "./assets/thumbnails/Cobot_Magic_turn_on_the_bulb.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "1K-10K", "dataset_size": "52.8MB", "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": "Cobot_Magic", "codebase_version": "v2.1", "statistics": { "total_episodes": 11, "total_frames": 2216, "total_tasks": 1, "total_videos": 33, "total_chunks": 1, "chunks_size": 1000, "fps": 50 }, "splits": { "train": "0:10" }, "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": 50, "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": 50, "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": 50, "video.channels": 3, "has_audio": false } }, "observation.state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "press the switch on the desk to turn on the bulb.", "sub_tasks": [ "End", "Turn on the switch", "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": 50, "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": 50, "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": 50, "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" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Cobot_Magic_turn_on_the_bulb_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "turn_on_the_bulb", "dataset_uuid": null, "task_descriptions": [ "press the switch on the desk to turn on the bulb." ], "scene_type": [ "home" ], "atomic_actions": [ "press" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "bulb", "level1": "tool", "level2": "bulb", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "agilex_cobot_decoupled_magic" ], "end_effector_type": "two_finger_gripper" } }, "R1_Lite_move_the_position_of_the_apple": { "dataset_name": "move_the_position_of_the_apple", "dataset_uuid": "9155fbd7-8bc2-44d0-a2dc-16b1fad44af0", "scene_type": [ "home" ], "atomic_actions": [ "place", "pick", "grasp" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "pen", "level1": "office_supplies", "level2": "pen", "level3": null, "level4": null, "level5": null }, { "object_name": "banana", "level1": "fruit", "level2": "banana", "level3": null, "level4": null, "level5": null }, { "object_name": "apple", "level1": "fruit", "level2": "apple", "level3": null, "level4": null, "level5": null }, { "object_name": "bath_ball", "level1": "daily_necessities", "level2": "bath_ball", "level3": null, "level4": null, "level5": null }, { "object_name": "bowl", "level1": "container", "level2": "bowl", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "can", "level1": "container", "level2": "can", "level3": null, "level4": null, "level5": null }, { "object_name": "eraser", "level1": "office_supplies", "level2": "eraser", "level3": null, "level4": null, "level5": null }, { "object_name": "hard_cleanser", "level1": "daily_necessities", "level2": "hard_cleanser", "level3": null, "level4": null, "level5": null }, { "object_name": "long_bread", "level1": "food", "level2": "long_bread", "level3": null, "level4": null, "level5": null }, { "object_name": "peeler", "level1": "tool", "level2": "peeler", "level3": null, "level4": null, "level5": null }, { "object_name": "block", "level1": "toy", "level2": "block", "level3": null, "level4": null, "level5": null }, { "object_name": "duck", "level1": "toy", "level2": "duck", "level3": null, "level4": null, "level5": null }, { "object_name": "soap", "level1": "daily_necessities", "level2": "soap", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "basket", "level1": "container", "level2": "basket", "level3": null, "level4": null, "level5": null }, { "object_name": "cola", "level1": "drink", "level2": "cola", "level3": null, "level4": null, "level5": null }, { "object_name": "detergent", "level1": "daily_necessities", "level2": "detergent", "level3": null, "level4": null, "level5": null }, { "object_name": "egg_beater", "level1": "electrical_appliances", "level2": "egg_beater", "level3": null, "level4": null, "level5": null }, { "object_name": "towel", "level1": "clothing", "level2": "towel", "level3": null, "level4": null, "level5": null }, { "object_name": "orange", "level1": "fruit", "level2": "orange", "level3": null, "level4": null, "level5": null }, { "object_name": "peach", "level1": "fruit", "level2": "peach", "level3": null, "level4": null, "level5": null }, { "object_name": "marker", "level1": "office_supplies", "level2": "marker", "level3": null, "level4": null, "level5": null }, { "object_name": "rubiks_cube", "level1": "toy", "level2": "rubiks_cube", "level3": null, "level4": null, "level5": null }, { "object_name": "bread_slice", "level1": "food", "level2": "bread_slice", "level3": null, "level4": null, "level5": null }, { "object_name": "brush", "level1": "daily_necessities", "level2": "brush", "level3": null, "level4": null, "level5": null }, { "object_name": "yogurt", "level1": "drink", "level2": "yogurt", "level3": null, "level4": null, "level5": null }, { "object_name": "power_strip", "level1": "electric_appliance", "level2": "power_strip", "level3": null, "level4": null, "level5": null }, { "object_name": "milk", "level1": "drink", "level2": "milk", "level3": null, "level4": null, "level5": null }, { "object_name": "soda", "level1": "drink", "level2": "soda", "level3": null, "level4": null, "level5": null }, { "object_name": "lime", "level1": "fruit", "level2": "lime", "level3": null, "level4": null, "level5": null }, { "object_name": "coffee_capsule", "level1": "drink", "level2": "coffee_capsule", "level3": null, "level4": null, "level5": null }, { "object_name": "dish", "level1": "container", "level2": "dish", "level3": null, "level4": null, "level5": null }, { "object_name": "glass", "level1": "furniture", "level2": "glass", "level3": null, "level4": null, "level5": null }, { "object_name": "egg_yolk_pastry", "level1": "food", "level2": "egg_yolk_pastry", "level3": null, "level4": null, "level5": null }, { "object_name": "glasses_case", "level1": "daily_necessities", "level2": "glasses_case", "level3": null, "level4": null, "level5": null }, { "object_name": "gum", "level1": "daily_necessities", "level2": "gum", "level3": null, "level4": null, "level5": null }, { "object_name": "tape", "level1": "daily_necessities", "level2": "tape", "level3": null, "level4": null, "level5": null }, { "object_name": "soft_cleanser", "level1": "daily_necessities", "level2": "soft_cleanser", "level3": null, "level4": null, "level5": null }, { "object_name": "chips", "level1": "food", "level2": "chips", "level3": null, "level4": null, "level5": null }, { "object_name": "chocolate", "level1": "food", "level2": "chocolate", "level3": null, "level4": null, "level5": null }, { "object_name": "cookie", "level1": "food", "level2": "cookie", "level3": null, "level4": null, "level5": null }, { "object_name": "spoon", "level1": "tableware", "level2": "spoon", "level3": null, "level4": null, "level5": null } ], "path": "R1_Lite_move_the_position_of_the_apple", "video_url": "./assets/videos/R1_Lite_move_the_position_of_the_apple.mp4", "thumbnail_url": "./assets/thumbnails/R1_Lite_move_the_position_of_the_apple.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "1K-10K", "dataset_size": "223.0MB", "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": "R1_Lite", "codebase_version": "v2.1", "statistics": { "total_episodes": 35, "total_frames": 5959, "total_tasks": 1, "total_videos": 140, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:34" }, "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_left_rgb": { "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_right_rgb": { "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 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" ] }, "action": { "dtype": "float32", "shape": [ 18 ], "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 }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "put the apple in the designated position.", "sub_tasks": [ "End", "Place the apple on the table with left gripper", "Grasp the apple with left gripper", "Place the apple on the table with right gripper", "Grasp the apple with right gripper", "Static", "Abnormal", "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_left_rgb", "name": "cam_high_left_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_right_rgb", "name": "cam_high_right_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_left_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_right_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "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" ] } }, "action_space": { "dtype": "float32", "shape": [ 18 ], "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "R1_Lite_move_the_position_of_the_apple_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_left_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_high_right_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "move_the_position_of_the_apple", "dataset_uuid": null, "task_descriptions": [ "put the apple in the designated position." ], "scene_type": [ "home" ], "atomic_actions": [ "place", "pick", "grasp" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "pen", "level1": "office_supplies", "level2": "pen", "level3": null, "level4": null, "level5": null }, { "object_name": "banana", "level1": "fruit", "level2": "banana", "level3": null, "level4": null, "level5": null }, { "object_name": "apple", "level1": "fruit", "level2": "apple", "level3": null, "level4": null, "level5": null }, { "object_name": "bath_ball", "level1": "daily_necessities", "level2": "bath_ball", "level3": null, "level4": null, "level5": null }, { "object_name": "bowl", "level1": "container", "level2": "bowl", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "can", "level1": "container", "level2": "can", "level3": null, "level4": null, "level5": null }, { "object_name": "eraser", "level1": "office_supplies", "level2": "eraser", "level3": null, "level4": null, "level5": null }, { "object_name": "hard_cleanser", "level1": "daily_necessities", "level2": "hard_cleanser", "level3": null, "level4": null, "level5": null }, { "object_name": "long_bread", "level1": "food", "level2": "long_bread", "level3": null, "level4": null, "level5": null }, { "object_name": "peeler", "level1": "tool", "level2": "peeler", "level3": null, "level4": null, "level5": null }, { "object_name": "block", "level1": "toy", "level2": "block", "level3": null, "level4": null, "level5": null }, { "object_name": "duck", "level1": "toy", "level2": "duck", "level3": null, "level4": null, "level5": null }, { "object_name": "soap", "level1": "daily_necessities", "level2": "soap", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "basket", "level1": "container", "level2": "basket", "level3": null, "level4": null, "level5": null }, { "object_name": "cola", "level1": "drink", "level2": "cola", "level3": null, "level4": null, "level5": null }, { "object_name": "detergent", "level1": "daily_necessities", "level2": "detergent", "level3": null, "level4": null, "level5": null }, { "object_name": "egg_beater", "level1": "electrical_appliances", "level2": "egg_beater", "level3": null, "level4": null, "level5": null }, { "object_name": "towel", "level1": "clothing", "level2": "towel", "level3": null, "level4": null, "level5": null }, { "object_name": "orange", "level1": "fruit", "level2": "orange", "level3": null, "level4": null, "level5": null }, { "object_name": "peach", "level1": "fruit", "level2": "peach", "level3": null, "level4": null, "level5": null }, { "object_name": "marker", "level1": "office_supplies", "level2": "marker", "level3": null, "level4": null, "level5": null }, { "object_name": "rubiks_cube", "level1": "toy", "level2": "rubiks_cube", "level3": null, "level4": null, "level5": null }, { "object_name": "bread_slice", "level1": "food", "level2": "bread_slice", "level3": null, "level4": null, "level5": null }, { "object_name": "brush", "level1": "daily_necessities", "level2": "brush", "level3": null, "level4": null, "level5": null }, { "object_name": "yogurt", "level1": "drink", "level2": "yogurt", "level3": null, "level4": null, "level5": null }, { "object_name": "power_strip", "level1": "electric_appliance", "level2": "power_strip", "level3": null, "level4": null, "level5": null }, { "object_name": "milk", "level1": "drink", "level2": "milk", "level3": null, "level4": null, "level5": null }, { "object_name": "soda", "level1": "drink", "level2": "soda", "level3": null, "level4": null, "level5": null }, { "object_name": "lime", "level1": "fruit", "level2": "lime", "level3": null, "level4": null, "level5": null }, { "object_name": "coffee_capsule", "level1": "drink", "level2": "coffee_capsule", "level3": null, "level4": null, "level5": null }, { "object_name": "dish", "level1": "container", "level2": "dish", "level3": null, "level4": null, "level5": null }, { "object_name": "glass", "level1": "furniture", "level2": "glass", "level3": null, "level4": null, "level5": null }, { "object_name": "egg_yolk_pastry", "level1": "food", "level2": "egg_yolk_pastry", "level3": null, "level4": null, "level5": null }, { "object_name": "glasses_case", "level1": "daily_necessities", "level2": "glasses_case", "level3": null, "level4": null, "level5": null }, { "object_name": "gum", "level1": "daily_necessities", "level2": "gum", "level3": null, "level4": null, "level5": null }, { "object_name": "tape", "level1": "daily_necessities", "level2": "tape", "level3": null, "level4": null, "level5": null }, { "object_name": "soft_cleanser", "level1": "daily_necessities", "level2": "soft_cleanser", "level3": null, "level4": null, "level5": null }, { "object_name": "chips", "level1": "food", "level2": "chips", "level3": null, "level4": null, "level5": null }, { "object_name": "chocolate", "level1": "food", "level2": "chocolate", "level3": null, "level4": null, "level5": null }, { "object_name": "cookie", "level1": "food", "level2": "cookie", "level3": null, "level4": null, "level5": null }, { "object_name": "spoon", "level1": "tableware", "level2": "spoon", "level3": null, "level4": null, "level5": null } ], "device_model": [ "galaxea_r1_lite" ], "end_effector_type": "two_finger_gripper", "operation_platform_height": 77.2 } }, "G1edu-u3_pick_up_the_toy_ai": { "dataset_name": "pick_up_the_toy_ai", "dataset_uuid": "804260a5-c07f-432e-9080-8112b837464a", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick" ], "end_effector_type": [ "three_finger_hand" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "toy", "level1": "daily_supplies", "level2": "toy", "level3": null, "level4": null, "level5": null } ], "path": "G1edu-u3_pick_up_the_toy_ai", "video_url": "./assets/videos/G1edu-u3_pick_up_the_toy_ai.mp4", "thumbnail_url": "./assets/thumbnails/G1edu-u3_pick_up_the_toy_ai.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "1K-10K", "dataset_size": "44.8MB", "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": "G1edu-u3", "codebase_version": "v2.1", "statistics": { "total_episodes": 10, "total_frames": 3242, "total_tasks": 1, "total_videos": 10, "total_chunks": 1, "chunks_size": 10, "fps": 30 }, "splits": { "train": "0:9" }, "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.ego_view": { "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.state": { "dtype": "float32", "shape": [ 30 ], "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": [ 30 ], "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": "float64", "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": "Pick up the water bottle\nPick up the bread\nPick up the pink cup\nPick up the lemmon\nPick up the tissue box\nPick up the toy bear\nPlace the water bottle\nPlace the bread\nPlace the pink cup\nPlace the lemon\nPlace the lemon on the orange round plate\nPlace the tissue box\nPlace the toy bear", "sub_tasks": [ "End", "Grasp the toy bear and lift it to the center of the view with right gripper", "Grasp the toy bear and lift it to the center of the view with 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.ego_view", "name": "ego_view", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.ego_view", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channel" ] } ], "state": { "dtype": "float32", "shape": [ 30 ], "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_space": { "dtype": "float32", "shape": [ 30 ], "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "G1edu-u3_pick_up_the_toy_ai_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.ego_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "pick_up_the_toy_ai", "dataset_uuid": null, "task_descriptions": [ "pick up the toy on the table." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "toy", "level1": "daily_supplies", "level2": "toy", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "unitree_g1" ], "end_effector_type": "three_finger_hand" } }, "AIRBOT_MMK2_store_coffee_cups": { "dataset_name": "store_coffee_cups", "dataset_uuid": "38759f00-3a88-419c-b74b-d8a66882a254", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "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": "coffee_cup", "level1": "container", "level2": "coffee_cup", "level3": null, "level4": null, "level5": null }, { "object_name": "basin", "level1": "container", "level2": "basin", "level3": null, "level4": null, "level5": null } ], "path": "AIRBOT_MMK2_store_coffee_cups", "video_url": "./assets/videos/AIRBOT_MMK2_store_coffee_cups.mp4", "thumbnail_url": "./assets/thumbnails/AIRBOT_MMK2_store_coffee_cups.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "444.8MB", "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": 50, "total_frames": 11166, "total_tasks": 1, "total_videos": 200, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:49" }, "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": "Pick up a coffee cup with one hand and place it in the basin; then pick up another coffee cup with your other hand and place it in the basin.", "sub_tasks": [ "Grasp the cup the right gripper", "place the cup in the basin use the left gripper", "End", "Grasp the cup the left gripper", "place the cup in the basin use the right 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_store_coffee_cups_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "store_coffee_cups", "dataset_uuid": null, "task_descriptions": [ "pick up a coffee cup with your left hand and place it in the basin; pick up another coffee cup with your right hand and place it in the basin." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "coffee_cup", "level1": "container", "level2": "coffee_cup", "level3": null, "level4": null, "level5": null }, { "object_name": "basin", "level1": "container", "level2": "basin", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "airbot mmk2" ], "end_effector_type": "five_finger_hand" } }, "leju_robot_hotel_services_e": { "dataset_name": "hotel_services_e", "dataset_uuid": "4d57f5ee-7850-4fb4-8532-415c1821c756", "scene_type": [], "atomic_actions": [], "end_effector_type": [ "five_finger_hand" ], "operation_platform_height": null, "objects": [], "path": "leju_robot_hotel_services_e", "video_url": "./assets/videos/leju_robot_hotel_services_e.mp4", "thumbnail_url": "./assets/thumbnails/leju_robot_hotel_services_e.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "14.2GB", "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": "leju_robot", "codebase_version": "v2.1", "statistics": { "total_episodes": 309, "total_frames": 212885, "total_tasks": 1, "total_videos": 927, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:308" }, "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.camera_head_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_left_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_right_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "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": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] }, "action": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "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": "take out the card place it on the sensor for recognition and then transfer it.", "sub_tasks": [ "Hand the room key to the person.", "Place the ID card on the card reader.", "Take the ID card from the person's hand.", "Pick up the room key from the key card box.", "Hand the ID card to the person.", "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.camera_head_rgb", "name": "camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_left_wrist_rgb", "name": "camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_right_wrist_rgb", "name": "camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] } }, "action_space": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "leju_robot_hotel_services_e_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.camera_head_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.camera_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.camera_right_wrist_rgb/\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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": {} }, "AgiBot-g1_picks_up_battery_a": { "dataset_name": "picks_up_battery_a", "dataset_uuid": "3385f559-eb6d-46ff-94d3-a6b48d250220", "scene_type": [ "factory" ], "atomic_actions": [ "place", "pick", "grasp" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "carton", "level1": "container", "level2": "carton", "level3": null, "level4": null, "level5": null }, { "object_name": "battery", "level1": "tool", "level2": "battery", "level3": null, "level4": null, "level5": null } ], "path": "AgiBot-g1_picks_up_battery_a", "video_url": "./assets/videos/AgiBot-g1_picks_up_battery_a.mp4", "thumbnail_url": "./assets/thumbnails/AgiBot-g1_picks_up_battery_a.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "119.7GB", "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": "AgiBot-g1", "codebase_version": "v2.1", "statistics": { "total_episodes": 562, "total_frames": 214263, "total_tasks": 1, "total_videos": 4496, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:561" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "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, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_back_left_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_back_right_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_center_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_left_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_right_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "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": [ 41 ], "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open", "robot_pos_x_m", "robot_pos_y_m", "robot_pos_z_m", "robot_quat_x", "robot_quat_y", "robot_quat_z", "robot_quat_w" ] }, "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", "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_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 }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "using a robotic arm to pick up battery.", "sub_tasks": [ "Place the power supply on the operating table.", "Grab and lift the power supply from the large box.", "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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_back_left_fisheye_rgb", "name": "cam_back_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_back_right_fisheye_rgb", "name": "cam_back_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_center_fisheye_rgb", "name": "cam_high_center_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_left_fisheye_rgb", "name": "cam_high_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_right_fisheye_rgb", "name": "cam_high_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_back_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_back_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_center_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 41 ], "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open", "robot_pos_x_m", "robot_pos_y_m", "robot_pos_z_m", "robot_quat_x", "robot_quat_y", "robot_quat_z", "robot_quat_w" ] } }, "action_space": { "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", "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "AgiBot-g1_picks_up_battery_a_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_back_left_fisheye_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_back_right_fisheye_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_high_center_fisheye_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_high_left_fisheye_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_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_high_right_fisheye_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "picks_up_battery_a", "dataset_uuid": null, "task_descriptions": [ "use a robotic arm to pick up the battery from the box and place it in the material preparation area." ], "scene_type": [ "factory" ], "atomic_actions": [ "place", "pick", "grasp" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "carton", "level1": "container", "level2": "carton", "level3": null, "level4": null, "level5": null }, { "object_name": "battery", "level1": "tool", "level2": "battery", "level3": null, "level4": null, "level5": null } ], "-operation_platform_height": null, "device_model": [ "tianqing_a2d" ], "end_effector_type": "two_finger_gripper" } }, "AgiBot-g1_mobile_accessory_storage_box_a": { "dataset_name": "mobile_accessory_storage_box_a", "dataset_uuid": "811a660c-6371-490a-9141-3019afa0cac2", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "accessories", "level1": "electronic_products", "level2": "accessories", "level3": null, "level4": null, "level5": null } ], "path": "AgiBot-g1_mobile_accessory_storage_box_a", "video_url": "./assets/videos/AgiBot-g1_mobile_accessory_storage_box_a.mp4", "thumbnail_url": "./assets/thumbnails/AgiBot-g1_mobile_accessory_storage_box_a.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "16.7GB", "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": "AgiBot-g1", "codebase_version": "v2.1", "statistics": { "total_episodes": 81, "total_frames": 40631, "total_tasks": 1, "total_videos": 648, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:80" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "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, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_back_left_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_back_right_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_center_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_left_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_right_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "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": [ 41 ], "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open", "robot_pos_x_m", "robot_pos_y_m", "robot_pos_z_m", "robot_quat_x", "robot_quat_y", "robot_quat_z", "robot_quat_w" ] }, "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", "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_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 }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "move the position of the storage box with accessories on the table.", "sub_tasks": [ "Place the open mouse box onto the operation table.", "Grab and pick up the open mouse box from the accessory packaging area.", "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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_back_left_fisheye_rgb", "name": "cam_back_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_back_right_fisheye_rgb", "name": "cam_back_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_center_fisheye_rgb", "name": "cam_high_center_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_left_fisheye_rgb", "name": "cam_high_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_right_fisheye_rgb", "name": "cam_high_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_back_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_back_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_center_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 41 ], "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open", "robot_pos_x_m", "robot_pos_y_m", "robot_pos_z_m", "robot_quat_x", "robot_quat_y", "robot_quat_z", "robot_quat_w" ] } }, "action_space": { "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", "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "AgiBot-g1_mobile_accessory_storage_box_a_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_back_left_fisheye_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_back_right_fisheye_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_high_center_fisheye_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_high_left_fisheye_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_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_high_right_fisheye_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "mobile_accessory_storage_box_a", "dataset_uuid": null, "task_descriptions": [ "move the position of the storage box with accessories on the table." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "accessories", "level1": "electronic_products", "level2": "accessories", "level3": null, "level4": null, "level5": null } ], "-operation_platform_height": null, "device_model": [ "tianqing_a2d" ], "end_effector_type": "two_finger_gripper" } }, "Cobot_Magic_pushing_magnet": { "dataset_name": "pushing_magnet", "dataset_uuid": "ad07d99e-6bee-4147-b81a-8f2dfe943ed8", "scene_type": [ "home" ], "atomic_actions": [ "push" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "magnet", "level1": "tool", "level2": "magnet", "level3": null, "level4": null, "level5": null } ], "path": "Cobot_Magic_pushing_magnet", "video_url": "./assets/videos/Cobot_Magic_pushing_magnet.mp4", "thumbnail_url": "./assets/thumbnails/Cobot_Magic_pushing_magnet.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "423.5MB", "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": "Cobot_Magic", "codebase_version": "v2.1", "statistics": { "total_episodes": 100, "total_frames": 23553, "total_tasks": 1, "total_videos": 300, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:99" }, "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.state": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "action": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "timestamp": { "dtype": "float32", "shape": [ 1 ], "names": null }, "frame_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "episode_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "task_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "subtask_annotation": { "names": null, "dtype": "int32", "shape": [ 5 ] }, "scene_annotation": { "names": null, "dtype": "int32", "shape": [ 1 ] }, "eef_sim_pose_state": { "names": [ "left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_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 ] }, "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 ] }, "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 ] } }, "tasks": "push the magnet on the table from its original position to another position.", "sub_tasks": [ "End", "Push the magnet on the right to connect the magnet on the left", "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 } ], "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" ] } ], "state": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] } }, "action_space": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Cobot_Magic_pushing_magnet_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "pushing_magnet", "dataset_uuid": null, "task_descriptions": [ "push the magnet on the table from its original position to another position." ], "scene_type": [ "home" ], "atomic_actions": [ "push" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "magnet", "level1": "tool", "level2": "magnet", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "agilex_cobot_decoupled_magic" ], "end_effector_type": "two_finger_gripper" } }, "leju_robot_moving_parts_b": { "dataset_name": "moving_parts_b", "dataset_uuid": "b23f0a82-6d8f-4f98-b818-5e10125816cc", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "end_effector_type": [ "five_finger_hand" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "cabinet", "level1": "furniture", "level2": "cabinet", "level3": null, "level4": null, "level5": null }, { "object_name": "parts", "level1": "mechanical_parts", "level2": "parts", "level3": null, "level4": null, "level5": null } ], "path": "leju_robot_moving_parts_b", "video_url": "./assets/videos/leju_robot_moving_parts_b.mp4", "thumbnail_url": "./assets/thumbnails/leju_robot_moving_parts_b.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "43.3GB", "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": "leju_robot", "codebase_version": "v2.1", "statistics": { "total_episodes": 490, "total_frames": 708011, "total_tasks": 1, "total_videos": 1470, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:489" }, "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.camera_head_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_left_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_right_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "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": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] }, "action": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "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": "take the parts from the cabinet and place them on the table.", "sub_tasks": [ "Insert the small parts into the corresponding holes on the workbench.", "End", "Place the white part on the table with left gripper", "Grasp the white part with left gripper", "Move the small parts to the workbench.", "Move to the table behind body", "Take small components from the rack.", "Pick up small parts from the shelf.", "Move to the initial position of the workbench.", "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.camera_head_rgb", "name": "camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_left_wrist_rgb", "name": "camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_right_wrist_rgb", "name": "camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] } }, "action_space": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "leju_robot_moving_parts_b_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.camera_head_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.camera_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.camera_right_wrist_rgb/\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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "moving_parts_b", "dataset_uuid": null, "task_descriptions": [ "take the parts from the cabinet and move to the table ,then place the parts on the table." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "cabinet", "level1": "furniture", "level2": "cabinet", "level3": null, "level4": null, "level5": null }, { "object_name": "parts", "level1": "mechanical_parts", "level2": "parts", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "leju_kuavo_4_pro" ], "end_effector_type": "five_finger_gripper" } }, "G1edu-u3_place_plastic_bowl_ah": { "dataset_name": "place_plastic_bowl_ah", "dataset_uuid": "7153928d-6c50-4662-91a7-9d48d64e1e5d", "scene_type": [ "home" ], "atomic_actions": [ "pick", "place" ], "end_effector_type": [ "three_finger_hand" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "plastic_bowl", "level1": "container", "level2": "plastic_bowl", "level3": null, "level4": null, "level5": null } ], "path": "G1edu-u3_place_plastic_bowl_ah", "video_url": "./assets/videos/G1edu-u3_place_plastic_bowl_ah.mp4", "thumbnail_url": "./assets/thumbnails/G1edu-u3_place_plastic_bowl_ah.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "1K-10K", "dataset_size": "83.7MB", "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": "G1edu-u3", "codebase_version": "v2.1", "statistics": { "total_episodes": 33, "total_frames": 5638, "total_tasks": 1, "total_videos": 33, "total_chunks": 1, "chunks_size": 34, "fps": 30 }, "splits": { "train": "0:32" }, "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.ego_view": { "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.state": { "dtype": "float32", "shape": [ 30 ], "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": [ 30 ], "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": "float64", "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": "Pick up the crumpled paper\nPick up the empty bottle\nPick up the leftover food\nPick up the metal bowl\nPick up the metal bowl\nPick up the plastic bowl\nPick up the plastic bowl\nPlace the metal bowl\nPlace the metal bowl\nPlace the plastic bowl\nPlace the plastic bowl", "sub_tasks": [ "Place the plastic bowl on the table with right gripper", "End", "Place the plastic bowl on the table with 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.ego_view", "name": "ego_view", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.ego_view", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channel" ] } ], "state": { "dtype": "float32", "shape": [ 30 ], "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_space": { "dtype": "float32", "shape": [ 30 ], "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "G1edu-u3_place_plastic_bowl_ah_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.ego_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "place_plastic_bowl_ah", "dataset_uuid": null, "task_descriptions": [ "put the bowl on the table." ], "scene_type": [ "home" ], "atomic_actions": [ "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "plastic_bowl", "level1": "container", "level2": "plastic_bowl", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "unitree_g1" ], "end_effector_type": "three_finger_hand" } }, "AgiBot-g1_battery_storage_b": { "dataset_name": "battery_storage_b", "dataset_uuid": "632c0e2b-a8bb-4e12-9635-82df87be2096", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "battery", "level1": "electronic_products", "level2": "battery", "level3": null, "level4": null, "level5": null } ], "path": "AgiBot-g1_battery_storage_b", "video_url": "./assets/videos/AgiBot-g1_battery_storage_b.mp4", "thumbnail_url": "./assets/thumbnails/AgiBot-g1_battery_storage_b.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "29.6GB", "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": "AgiBot-g1", "codebase_version": "v2.1", "statistics": { "total_episodes": 115, "total_frames": 57968, "total_tasks": 1, "total_videos": 920, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:114" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "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, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_back_left_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_back_right_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_center_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_left_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_right_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "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": [ 41 ], "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open", "robot_pos_x_m", "robot_pos_y_m", "robot_pos_z_m", "robot_quat_x", "robot_quat_y", "robot_quat_z", "robot_quat_w" ] }, "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", "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_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 }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "place the batteries in the box on the table.", "sub_tasks": [ "Place the power supply on the operating table.", "Grab and lift the power supply from the large box.", "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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_back_left_fisheye_rgb", "name": "cam_back_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_back_right_fisheye_rgb", "name": "cam_back_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_center_fisheye_rgb", "name": "cam_high_center_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_left_fisheye_rgb", "name": "cam_high_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_right_fisheye_rgb", "name": "cam_high_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_back_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_back_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_center_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 41 ], "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open", "robot_pos_x_m", "robot_pos_y_m", "robot_pos_z_m", "robot_quat_x", "robot_quat_y", "robot_quat_z", "robot_quat_w" ] } }, "action_space": { "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", "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "AgiBot-g1_battery_storage_b_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_back_left_fisheye_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_back_right_fisheye_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_high_center_fisheye_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_high_left_fisheye_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_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_high_right_fisheye_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "battery_storage_b", "dataset_uuid": null, "task_descriptions": [ "put the battery from the box onto the table." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "battery", "level1": "electronic_products", "level2": "battery", "level3": null, "level4": null, "level5": null } ], "-operation_platform_height": null, "device_model": [ "tianqing_a2d" ], "end_effector_type": "two_finger_gripper" } }, "R1_Lite_throw_out_the_trash": { "dataset_name": "throw_out_the_trash", "dataset_uuid": "1aceeebe-3221-4690-8d72-ca6f9ec512eb", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "trash_can", "level1": "container", "level2": "trash_can", "level3": null, "level4": null, "level5": null }, { "object_name": "garbage_bag", "level1": "container", "level2": "garbage_bag", "level3": null, "level4": null, "level5": null }, { "object_name": "the_door", "level1": "furniture", "level2": "the_door", "level3": null, "level4": null, "level5": null } ], "path": "R1_Lite_throw_out_the_trash", "video_url": "./assets/videos/R1_Lite_throw_out_the_trash.mp4", "thumbnail_url": "./assets/thumbnails/R1_Lite_throw_out_the_trash.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "6.0GB", "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": "R1_Lite", "codebase_version": "v2.1", "statistics": { "total_episodes": 109, "total_frames": 143720, "total_tasks": 1, "total_videos": 327, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:108" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "take garbage bag from can walk to door put on ground.", "sub_tasks": [ "End", "Place the outer trash can on the ground", "Put the trash bag at the door", "Pick up the trash bag", "abnormal", "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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "R1_Lite_throw_out_the_trash_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "throw_out_the_trash", "dataset_uuid": null, "task_descriptions": [ "take garbage bag from can walk to door put on ground." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "trash_can", "level1": "container", "level2": "trash_can", "level3": null, "level4": null, "level5": null }, { "object_name": "garbage_bag", "level1": "container", "level2": "garbage_bag", "level3": null, "level4": null, "level5": null }, { "object_name": "the_door", "level1": "furniture", "level2": "the_door", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "galaxea_r1_lite" ], "end_effector_type": "two_finger_gripper" } }, "Cobot_Magic_the_box_stores_table_tennis_balls": { "dataset_name": "the_box_stores_table_tennis_balls", "dataset_uuid": "4af013a1-8691-4531-a11d-4a02b8ba9fdf", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "table_tennis", "level1": "toy", "level2": "table_tennis", "level3": null, "level4": null, "level5": null }, { "object_name": "tablecloth", "level1": "clothing", "level2": "tablecloth", "level3": null, "level4": null, "level5": null } ], "path": "Cobot_Magic_the_box_stores_table_tennis_balls", "video_url": "./assets/videos/Cobot_Magic_the_box_stores_table_tennis_balls.mp4", "thumbnail_url": "./assets/thumbnails/Cobot_Magic_the_box_stores_table_tennis_balls.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "19.9GB", "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": "Cobot_Magic", "codebase_version": "v2.1", "statistics": { "total_episodes": 477, "total_frames": 438756, "total_tasks": 5, "total_videos": 1431, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:476" }, "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_front_rgb": { "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "put the table tennis balls in the box on the blue coffee tablecloth.\nput the table tennis balls in the box on the green coffee tablecloth.\nput the table tennis balls into the box on the light coffee tablecloth.\nput the table tennis balls into the box on the grey coffee tablecloth.\nput the table tennis balls into the box on the white checkered tablecloth.", "sub_tasks": [ "use the right arm to clamp the table tennis ball closest to it", "use the right arm to put the table tennis ball into the box", "use the left arm to clamp the table tennis ball closest to it", "use the left arm to put the table tennis ball into the box", "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_front_rgb", "name": "cam_front_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_front_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Cobot_Magic_the_box_stores_table_tennis_balls_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_front_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "the_box_stores_table_tennis_balls", "dataset_uuid": null, "task_descriptions": [ "put the table tennis balls in the box on the blue tablecloth.", "put the table tennis balls in the box on the green tablecloth.", "put the table tennis balls into the box on the light coffee tablecloth.", "put the table tennis balls into the box on the grey tablecloth.", "put the table tennis balls into the box on the white table.", "put the table tennis balls into the box on the white checkered tablecloth." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "table_tennis", "level1": "toy", "level2": "table_tennis", "level3": null, "level4": null, "level5": null }, { "object_name": "tablecloth", "level1": "clothing", "level2": "tablecloth", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "agilex_cobot_decoupled_magic" ], "end_effector_type": "two_finger_gripper" } }, "R1_Lite_take_and_put_away_items": { "dataset_name": "take_and_put_away_items", "dataset_uuid": "fa3f7148-5f74-444e-82a5-9f8b31a69987", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place", "pull", "push" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "drawer", "level1": "container", "level2": "drawer", "level3": null, "level4": null, "level5": null }, { "object_name": "umbrella", "level1": "daily_necessities", "level2": "umbrella", "level3": null, "level4": null, "level5": null }, { "object_name": "data_cable", "level1": "electronic_products", "level2": "data_cable", "level3": null, "level4": null, "level5": null }, { "object_name": "mineral_water", "level1": "beverages", "level2": "mineral_water", "level3": null, "level4": null, "level5": null }, { "object_name": "storage_box", "level1": "container", "level2": "storage_box", "level3": null, "level4": null, "level5": null } ], "path": "R1_Lite_take_and_put_away_items", "video_url": "./assets/videos/R1_Lite_take_and_put_away_items.mp4", "thumbnail_url": "./assets/thumbnails/R1_Lite_take_and_put_away_items.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "6.9GB", "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": "R1_Lite", "codebase_version": "v2.1", "statistics": { "total_episodes": 112, "total_frames": 137069, "total_tasks": 1, "total_videos": 336, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:111" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "take out or store umbrellas water cables boxes on drawers tables.", "sub_tasks": [ "Take the mineral water out of the drawer and put it on the table", "Open the drawer", "Take the data cable out of the drawer and put it on the table", "Take the umbrella out of the drawer and put it on the table", "Take the storage box out of the drawer and put it on the table", "Put the storage box in the drawer", "Close the drawer", "Put the umbrella in the drawer", "Put the data cable in the drawer", "Put the mineral water in the drawer", "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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "R1_Lite_take_and_put_away_items_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "Storage and retrieval of items", "dataset_uuid": null, "task_descriptions": [ "take out or store umbrellas water cables boxes on drawers tables." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place", "pull", "push" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "drawer", "level1": "container", "level2": "drawer", "level3": null, "level4": null, "level5": null }, { "object_name": "umbrella", "level1": "daily_necessities", "level2": "umbrella", "level3": null, "level4": null, "level5": null }, { "object_name": "data_cable", "level1": "electronic_products", "level2": "data_cable", "level3": null, "level4": null, "level5": null }, { "object_name": "mineral_water", "level1": "beverages", "level2": "mineral_water", "level3": null, "level4": null, "level5": null }, { "object_name": "storage_box", "level1": "container", "level2": "storage_box", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "galaxea_r1_lite" ], "end_effector_type": "two_finger_gripper" } }, "RMC-AIDA-L_basket_storage_egg_yolk_pastry": { "dataset_name": "basket_storage_egg_yolk_pastry", "dataset_uuid": "928d5a84-eae7-4fae-b272-9356c151aa6d", "scene_type": [ "home", "kitchen" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "basket", "level1": "container", "level2": "basket", "level3": null, "level4": null, "level5": null }, { "object_name": "egg_yolk_pastry", "level1": "food", "level2": "egg_yolk_pastry", "level3": null, "level4": null, "level5": null } ], "path": "RMC-AIDA-L_basket_storage_egg_yolk_pastry", "video_url": "./assets/videos/RMC-AIDA-L_basket_storage_egg_yolk_pastry.mp4", "thumbnail_url": "./assets/thumbnails/RMC-AIDA-L_basket_storage_egg_yolk_pastry.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "3.5GB", "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": "RMC-AIDA-L", "codebase_version": "v2.1", "statistics": { "total_episodes": 727, "total_frames": 295062, "total_tasks": 4, "total_videos": 2181, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:726" }, "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.state": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] }, "action": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "the left gripper pick up the black basket and place it horizontally in the middle of the table, the right gripper pick up the egg yolk pastry and place it into the black basket.\nthe right gripper pick up the black basket and place it horizontally in the middle of the table, the left gripper pick up the egg yolk pastry and place it into the black basket.\nthe left gripper pick up the yellow basket and place it horizontally in the middle of the table, the right gripper pick up the egg yolk pastry and place it into the yellow basket.\nthe right gripper pick up the yellow basket and place it horizontally in the middle of the table, the left gripper pick up the egg yolk pastry and place it into the yellow basket.", "sub_tasks": [ "Place the basket in the center of view with left gripper", "Place the egg yolk pastry in the basket with right gripper", "Move the basket to the center of view with the right gripper", "Move the basket to the center of view with the left gripper", "Pick up the egg yolk pastry with the right gripper", "Place the basket in the center of view with right gripper", "Pick up the basket with the left gripper", "Place the basket in the center of view with the left gripper", "Grasp egg yolk pastry with left gripper", "Place the egg yolk pastry into the basket with the right gripper", "Grasp the basket with right gripper", "End", "Grasp egg yolk pastry with right gripper", "Place the egg yolk pastry in the basket with left gripper", "Grasp the basket with left gripper", "Place the egg yolk pastry into the basket with the left gripper", "Pick up the egg yolk pastry 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 } ], "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" ] } ], "state": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] } }, "action_space": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "RMC-AIDA-L_basket_storage_egg_yolk_pastry_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "basket_storage_egg_yolk_pastry", "dataset_uuid": null, "task_descriptions": [ "the left gripper pick up the black basket and place it horizontally in the middle of the table, the right gripper pick up the egg yolk pastry and place it into the black basket.", "the left gripper pick up the yellow basket and place it horizontally in the middle of the table, the right gripper pick up the egg yolk pastry and place it into the yellow basket.", "the right gripper pick up the black basket and place it horizontally in the middle of the table, the left gripper pick up the egg yolk pastry and place it into the black basket.", "the right gripper pick up the yellow basket and place it horizontally in the middle of the table, the left gripper pick up the egg yolk pastry and place it into the yellow basket." ], "scene_type": [ "home", "kitchen" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "basket", "level1": "container", "level2": "basket", "level3": null, "level4": null, "level5": null }, { "object_name": "egg_yolk_pastry", "level1": "food", "level2": "egg_yolk_pastry", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "realman_rmc_aidal" ], "end_effector_type": "two_finger_gripper" } }, "leju_robot_moving_parts_u": { "dataset_name": "moving_parts_u", "dataset_uuid": "5138770c-0dd3-4a50-a8a2-efa57aabc3e9", "scene_type": [], "atomic_actions": [], "end_effector_type": [ "five_finger_hand" ], "operation_platform_height": null, "objects": [], "path": "leju_robot_moving_parts_u", "video_url": "./assets/videos/leju_robot_moving_parts_u.mp4", "thumbnail_url": "./assets/thumbnails/leju_robot_moving_parts_u.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "10.4GB", "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": "leju_robot", "codebase_version": "v2.1", "statistics": { "total_episodes": 100, "total_frames": 149345, "total_tasks": 1, "total_videos": 300, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:99" }, "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.camera_head_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_left_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_right_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "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": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", 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"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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "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": "take the parts from the cabinet and place them on the table.", "sub_tasks": [ "Place the black part on the table with right gripper", "Pick up the large material from the shelf.", "Insert the large material into the corresponding slot on the workbench.", "End", "Grasp the black part with right gripper", "Move the large material to the workbench.", "Move to the initial position of the shelf.", "Move to the table behind body", "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.camera_head_rgb", "name": "camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_left_wrist_rgb", "name": "camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_right_wrist_rgb", "name": "camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] } }, "action_space": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "leju_robot_moving_parts_u_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.camera_head_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.camera_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.camera_right_wrist_rgb/\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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": {} }, "RMC-AIDA-L_clean_table": { "dataset_name": "clean_table", "dataset_uuid": "ed026bcf-f342-4259-9fce-12208d2ca5b3", "scene_type": [ "home", "restaurant" ], "atomic_actions": [ "grasp", "pick", "place", "wipe" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "cup", "level1": "container", "level2": "cup", "level3": null, "level4": null, "level5": null }, { "object_name": "blue_rag", "level1": "clothing", "level2": "blue_rag", "level3": null, "level4": null, "level5": null }, { "object_name": "pruple_rag", "level1": "clothing", "level2": "pruple_rag", "level3": null, "level4": null, "level5": null }, { "object_name": "water", "level1": "drink", "level2": "water", "level3": null, "level4": null, "level5": null } ], "path": "RMC-AIDA-L_clean_table", "video_url": "./assets/videos/RMC-AIDA-L_clean_table.mp4", "thumbnail_url": "./assets/thumbnails/RMC-AIDA-L_clean_table.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "3.5GB", "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": "RMC-AIDA-L", "codebase_version": "v2.1", "statistics": { "total_episodes": 776, "total_frames": 514178, "total_tasks": 4, "total_videos": 2328, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:775" }, "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.state": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] }, "action": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "wipe off the black water stains in the middle of the table with a blue rag.\nwipe off the brown water stains in the middle of the table with a blue rag.\nwipe off the black water stains in the middle of the table with a pruple rag.\nwipe off the brown water stains in the middle of the table with a pruple rag.", "sub_tasks": [ "Place the rag on the table with the right gripper", "Stand the paper cup upright with the left gripper", "Grasp the paper cup with the left gripper", "Grasp the paper cup with the right gripper", "Grasp the rag with the left gripper", "Grasp the rag with the right gripper", "Wipe the stains off the table with the left gripper", "Place the rag on the table with the left gripper", "Stand the paper cup upright with the right gripper", "end", "Wipe the stains off the table with the right gripper", "abnormal", "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 } ], "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" ] } ], "state": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] } }, "action_space": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "RMC-AIDA-L_clean_table_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "clean_table", "dataset_uuid": null, "task_descriptions": [ "place the paper cup properly and then wipe off the black water stain in the middle of the table with a blue towel.", "place the paper cup properly and then wipe off the brown water stain in the middle of the table with a blue towel.", "place the paper cup properly and then wipe off the black water stain in the middle of the table with a purple towel.", "place the paper cup properly and then wipe off the brown water stain in the middle of the table with a purple towel." ], "scene_type": [ "home", "restaurant" ], "atomic_actions": [ "grasp", "pick", "place", "wipe" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "cup", "level1": "container", "level2": "cup", "level3": null, "level4": null, "level5": null }, { "object_name": "blue_rag", "level1": "clothing", "level2": "blue_rag", "level3": null, "level4": null, "level5": null }, { "object_name": "pruple_rag", "level1": "clothing", "level2": "pruple_rag", "level3": null, "level4": null, "level5": null }, { "object_name": "water", "level1": "drink", "level2": "water", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "realman rmc-aida-l" ], "end_effector_type": "two_finger_gripper" } }, "leju_robot_hotel_services_b": { "dataset_name": "hotel_services_b", "dataset_uuid": "1652000d-29c5-40d4-9d8d-3198ed81edbb", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "five_finger_hand" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "card", "level1": "nfc", "level2": "card", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "card_reader", "level1": "electronic_products", "level2": "card_reader", "level3": null, "level4": null, "level5": null } ], "path": "leju_robot_hotel_services_b", "video_url": "./assets/videos/leju_robot_hotel_services_b.mp4", "thumbnail_url": "./assets/thumbnails/leju_robot_hotel_services_b.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "14.0GB", "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": "leju_robot", "codebase_version": "v2.1", "statistics": { "total_episodes": 288, "total_frames": 209703, "total_tasks": 1, "total_videos": 864, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:287" }, "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.camera_head_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_left_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_right_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "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": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] }, "action": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "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": "take out the card place it on the sensor for recognition and then transfer it.", "sub_tasks": [ "Hand the room key to the person.", "Place the ID card on the card reader.", "Take the ID card from the person's hand.", "Pick up the room key from the key card box.", "Hand the ID card to the person.", "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.camera_head_rgb", "name": "camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_left_wrist_rgb", "name": "camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_right_wrist_rgb", "name": "camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] } }, "action_space": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "leju_robot_hotel_services_b_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.camera_head_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.camera_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.camera_right_wrist_rgb/\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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "hotel_services_b", "dataset_uuid": null, "task_descriptions": [ "take identity card and place it on card reader then give identity card and room card to human." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "card", "level1": "nfc", "level2": "card", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "card_reader", "level1": "electronic_products", "level2": "card_reader", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "leju_kuavo_4_pro" ], "end_effector_type": "five_finger_gripper" } }, "Cobot_Magic_pour_water_bottle": { "dataset_name": "pour_water_bottle", "dataset_uuid": "e375b064-04ad-4cb8-a8d4-d0994c11fa75", "scene_type": [ "home", "kitchen" ], "atomic_actions": [ "grasp", "pick", "pour", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "bottle", "level1": "container", "level2": "bottle", "level3": null, "level4": null, "level5": null }, { "object_name": "cup", "level1": "container", "level2": "cup", "level3": null, "level4": null, "level5": null }, { "object_name": "water", "level1": "drink", "level2": "water", "level3": null, "level4": null, "level5": null } ], "path": "Cobot_Magic_pour_water_bottle", "video_url": "./assets/videos/Cobot_Magic_pour_water_bottle.mp4", "thumbnail_url": "./assets/thumbnails/Cobot_Magic_pour_water_bottle.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "1.1GB", "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": "Cobot_Magic", "codebase_version": "v2.1", "statistics": { "total_episodes": 92, "total_frames": 43905, "total_tasks": 1, "total_videos": 276, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:91" }, "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.state": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "action": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "timestamp": { "dtype": "float32", "shape": [ 1 ], "names": null }, "frame_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "episode_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "task_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "subtask_annotation": { "names": null, "dtype": "int32", "shape": [ 5 ] }, "scene_annotation": { "names": null, "dtype": "int32", "shape": [ 1 ] }, "eef_sim_pose_state": { "names": [ "left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_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 ] }, "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 ] }, "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 ] } }, "tasks": "pick up the water bottle and pour the water in it into the glass", "sub_tasks": [ "End", "Grasp the mineral water bottle", "Pour water into the cup", "Anomaly", "Abnormal", "Pour water into the teacup", "Place the water bottle", "Pick up the water bottle", "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 } ], "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" ] } ], "state": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] } }, "action_space": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Cobot_Magic_pour_water_bottle_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "pour_water_bottle", "dataset_uuid": null, "task_descriptions": [ "pick up the water bottle and pour the water in it into the glass" ], "scene_type": [ "home", "kitchen" ], "atomic_actions": [ "grasp", "pick", "pour", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "bottle", "level1": "container", "level2": "bottle", "level3": null, "level4": null, "level5": null }, { "object_name": "cup", "level1": "container", "level2": "cup", "level3": null, "level4": null, "level5": null }, { "object_name": "water", "level1": "drink", "level2": "water", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "agilex_cobot_decoupled_magic" ], "end_effector_type": "two_finger_gripper" } }, "Cobot_Magic_desktop_organization": { "dataset_name": "desktop_organization", "dataset_uuid": "32b7ba5a-b7c4-475c-8bcc-6b60402acd24", "scene_type": [ "home", "office" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "banana", "level1": "fruit", "level2": "banana", "level3": null, "level4": null, "level5": null }, { "object_name": "waste_paper", "level1": "garbage", "level2": "waste_paper", "level3": null, "level4": null, "level5": null }, { "object_name": "basket", "level1": "container", "level2": "basket", "level3": null, "level4": null, "level5": null }, { "object_name": "eraser", "level1": "office_supplies", "level2": "eraser", "level3": null, "level4": null, "level5": null }, { "object_name": "knife", "level1": "office_supplies", "level2": "knife", "level3": null, "level4": null, "level5": null }, { "object_name": "ruler", "level1": "office_supplies", "level2": "ruler", "level3": null, "level4": null, "level5": null }, { "object_name": "bread", "level1": "food", "level2": "bread", "level3": null, "level4": null, "level5": null }, { "object_name": "small_pieces_of_paper", "level1": "garbage", "level2": "small_pieces_of_paper", "level3": null, "level4": null, "level5": null }, { "object_name": "coffee", "level1": "drink", "level2": "coffee", "level3": null, "level4": null, "level5": null }, { "object_name": "pencil_sharpener", "level1": "office_supplies", "level2": "pencil_sharpener", "level3": null, "level4": null, "level5": null }, { "object_name": "grape", "level1": "fruit", "level2": "grape", "level3": null, "level4": null, "level5": null }, { "object_name": "plastic_sheet", "level1": "garbage", "level2": "plastic_sheet", "level3": null, "level4": null, "level5": null }, { "object_name": "teacup", "level1": "container", "level2": "teacup", "level3": null, "level4": null, "level5": null }, { "object_name": "colored_glue", "level1": "office_supplies", "level2": "colored_glue", "level3": null, "level4": null, "level5": null }, { "object_name": "scissor", "level1": "office_supplies", "level2": "scissor", "level3": null, "level4": null, "level5": null }, { "object_name": "mango", "level1": "fruit", "level2": "mango", "level3": null, "level4": null, "level5": null }, { "object_name": "fruit_tray", "level1": "container", "level2": "fruit_tray", "level3": null, "level4": null, "level5": null }, { "object_name": "paper_ball", "level1": "garbage", "level2": "paper_ball", "level3": null, "level4": null, "level5": null }, { "object_name": "garbage_bin", "level1": "container", "level2": "garbage_bin", "level3": null, "level4": null, "level5": null }, { "object_name": "water_bottle", "level1": "container", "level2": "water_bottle", "level3": null, "level4": null, "level5": null }, { "object_name": "pen", "level1": "office_supplies", "level2": "pen", "level3": null, "level4": null, "level5": null }, { "object_name": "pen_holder", "level1": "garbage", "level2": "spitball", "level3": null, "level4": null, "level5": null }, { "object_name": "cola", "level1": "drink", "level2": "cola", "level3": null, "level4": null, "level5": null }, { "object_name": "milk", "level1": "drink", "level2": "milk", "level3": null, "level4": null, "level5": null } ], "path": "Cobot_Magic_desktop_organization", "video_url": "./assets/videos/Cobot_Magic_desktop_organization.mp4", "thumbnail_url": "./assets/thumbnails/Cobot_Magic_desktop_organization.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "1M-10M", "dataset_size": "31.3GB", "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": "Cobot_Magic", "codebase_version": "v2.1", "statistics": { "total_episodes": 1288, "total_frames": 2064431, "total_tasks": 6, "total_videos": 3864, "total_chunks": 2, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:1287" }, "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.state": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "action": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "timestamp": { "dtype": "float32", "shape": [ 1 ], "names": null }, "frame_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "episode_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "task_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "subtask_annotation": { "names": null, "dtype": "int32", "shape": [ 5 ] }, "scene_annotation": { "names": null, "dtype": "int32", "shape": [ 1 ] }, "eef_sim_pose_state": { "names": [ "left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_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 ] }, "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 ] }, "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 ] } }, "tasks": "put the mango on the plate, put the waste paper in the basket, place the water bottle upright near the plate, put the eraser in the pen holder, put the pen in the pen holder.\nput the bread on the plate, put the small pieces of paper in the basket, place thecoffee near the plate, put the pencil sharpener in the pen holder, put the rulerin the pen holder, put the pen in the pen holder.\nput the pear on the plate, put the waste paper in the basket, place the water bottleupright near the plate, put the knife in the pen holder, put the ruler in the penholder, put the pen in the pen holder.\nput the grape on a plate, put the plastic sheet in the basket, place the teacupneatly near the plate, put the scissor in the pen holder, put the ruler in the penholder, put the colored glue in the pen holder.\nput the mango and banana on the fruit tray, put the paper ball in the garbage bin,straighten the water bottle, put the eraser and pen in the pen holder.\npick up the green basket, put the cola inside the basket, and then put the basketdown.", "sub_tasks": [ "Pick up the pen with left arm", "Place the blue knife into the pen holder", "transfer the pen to the right arm", "pick up the yellow knife", "End", "Place the gray pen in pen holder with left gripper", "Place the yellow pen in pen holder with left gripper", "Grasp the yellow pen with right gripper", "place the red glue into the pen holder", "place the bread in the plate", "pick up the pink scissors", "Hand over the silver glue", "Grasp the banana with left gripper", "Grasp the basket with left gripper", "Grasp the blue pen with left gripper", "Place the banana in the plate", "pick up the blue knife", "Place the bottle", "Place the milk in the basket with left gripper", "pick up the red pencil sharpener", "Grasp the waste paper with right gripper", "Place the banana in the plate with left gripper", "pick up the red glue", "Place the cola can in the basket with right gripper", "Place the cola can on the table with left gripper", "pick up the blue pencil sharpener", "Hand the basket to the right gripper with the left gripper", "Place the pen into the pen holder", "Hand over the blue scissors", "Place the ruler into the pen holder", "place the yellow knife into the pen holder", "Hand over the yellow knife", "Pick up the bottle with the right arm", "Grasp the eraser with right gripper", "Static", "Grasp the cola can with right gripper", "pick up the silver glue", "Grasp the blue pen with right gripper", "Grasp the gray pen with right gripper", "pick up the blue scissors", "Hand over the bread", "Pick up the pen with right arm", "Place the yellow pen in pen holder with right gripper", "Place the black pen in pen holder with left gripper", "Grasp the cola can with left gripper", "place the blue pencil sharpener into the pen holder", "Place the eraser in pen holder with left gripper", "Grasp the black pen with left gripper", "transfer the bottle to the left arm", "Hand over the yellow glue", "Grasp the milk with left gripper", "Place the grapes in the plate", "abnormal", "Grasp the waste paper with left gripper", "Stand the bottle with left gripper", "Pick up the banana", "Place the plastic in the basket", "transfer the pen to the left arm", "Place the blue pen in pen holder with right gripper", "Pick up the eraser", "Place the blue pen in pen holder with left gripper", "Grasp the eraser with left gripper", "place the silver glue into the pen holder", "Place the mango in the plate with left gripper", "Place the waste paper in the basket with left gripper", "Place the pink scissors into the pen holder", "Place the gray pen in pen holder with right gripper", "Grasp the black pen with right gripper", "Place the red pencil sharpener into the pen holder", "Hand over the plastic", "Place the eraser into the pen holder", "Place the basket on the table with left gripper", "Grasp the gray pen with left gripper", "Place the eraser in pen holder with right gripper", "Pick up the pear", "Place the blue scissors into the pen holder", "pick up the yellow glue", "Hand over the pink scissors", "Place the cola can in the basket with left gripper", "Place the waste paper in the basket with right gripper", "Place the waste paper in the basket", "Place the black pen in pen holder with right gripper", "Place the milk in the basket with right gripper", "Hand over the grapes", "Hand over the waste paper", "Place the cola can on the table with right gripper", "Hand over the banana", "Hand over the pear", "Pick up the plastic", "Hand over the blue knife", "place the yellow glue into the pen holder", "Lift the basket with left gripper", "Pick up the waste paper", "Grasp the bottle with left gripper", "Hand over the bottle", "Grasp the milk with right gripper", "Grasp the mango with left gripper", "Hand over the pen", "Place the basket on the table with right gripper", "Place the pear in the plate", "Hand over the ruler", "Pick up the grapes", "Grasp the yellow pen with left gripper", "pick up the ruler", "Hand over the red glue", "pick up the bread", "Pick up the bottle with the left arm", "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 } ], "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" ] } ], "state": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] } }, "action_space": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Cobot_Magic_desktop_organization_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│ └── chunk-001/\n│ ├── episode_001000.parquet\n│ ├── episode_001001.parquet\n│ ├── episode_001002.parquet\n│ ├── episode_001003.parquet\n│ ├── episode_001004.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 └── chunk-001/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_001000.mp4\n ├── episode_001001.mp4\n ├── episode_001002.mp4\n ├── episode_001003.mp4\n ├── episode_001004.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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "desktop_organization", "dataset_uuid": null, "task_descriptions": [ "put the banana on the plate, put the waste paper in the basket, place the water bottle upright near the plate, put the eraser in the pen holder, put the pen in the pen holder.", "put the pear on the plate, put the waste paper in the basket, place the water bottleupright near the plate, put the knife in the pen holder, put the ruler in the penholder, put the pen in the pen holder.", "put the bread on the plate, put the small pieces of paper in the basket, place thecoffee near the plate, put the pencil sharpener in the pen holder, put the rulerin the pen holder, put the pen in the pen holder.", "put the grape on a plate, put the plastic sheet in the basket, place the teacupneatly near the plate, put the scissor in the pen holder, put the ruler in the penholder, put the colored glue in the pen holder.", "put the manngo and banana on the fruit tray, put the paper ball in the garbage bin,straighten the water bottle, put the eraser and pen in the pen holder.", "pick up the green basket, put the cola inside the basket, and then put the basketdown.", "put the cola into the green basket.", "pick up the green basket, put the milk inside the basket, and then put the basketdown.", "put the milk into the green basket.", "pick up the green basket, put the spitball inside the basket, and then put the basketdown.", "put the spitball into the green basket." ], "scene_type": [ "home", "office" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "banana", "level1": "fruit", "level2": "banana", "level3": null, "level4": null, "level5": null }, { "object_name": "waste_paper", "level1": "garbage", "level2": "waste_paper", "level3": null, "level4": null, "level5": null }, { "object_name": "basket", "level1": "container", "level2": "basket", "level3": null, "level4": null, "level5": null }, { "object_name": "eraser", "level1": "office_supplies", "level2": "eraser", "level3": null, "level4": null, "level5": null }, { "object_name": "knife", "level1": "office_supplies", "level2": "knife", "level3": null, "level4": null, "level5": null }, { "object_name": "ruler", "level1": "office_supplies", "level2": "ruler", "level3": null, "level4": null, "level5": null }, { "object_name": "bread", "level1": "food", "level2": "bread", "level3": null, "level4": null, "level5": null }, { "object_name": "small_pieces_of_paper", "level1": "garbage", "level2": "small_pieces_of_paper", "level3": null, "level4": null, "level5": null }, { "object_name": "coffee", "level1": "drink", "level2": "coffee", "level3": null, "level4": null, "level5": null }, { "object_name": "pencil_sharpener", "level1": "office_supplies", "level2": "pencil_sharpener", "level3": null, "level4": null, "level5": null }, { "object_name": "grape", "level1": "fruit", "level2": "grape", "level3": null, "level4": null, "level5": null }, { "object_name": "plastic_sheet", "level1": "garbage", "level2": "plastic_sheet", "level3": null, "level4": null, "level5": null }, { "object_name": "teacup", "level1": "container", "level2": "teacup", "level3": null, "level4": null, "level5": null }, { "object_name": "colored_glue", "level1": "office_supplies", "level2": "colored_glue", "level3": null, "level4": null, "level5": null }, { "object_name": "scissor", "level1": "office_supplies", "level2": "scissor", "level3": null, "level4": null, "level5": null }, { "object_name": "mango", "level1": "fruit", "level2": "mango", "level3": null, "level4": null, "level5": null }, { "object_name": "fruit_tray", "level1": "container", "level2": "fruit_tray", "level3": null, "level4": null, "level5": null }, { "object_name": "paper_ball", "level1": "garbage", "level2": "paper_ball", "level3": null, "level4": null, "level5": null }, { "object_name": "garbage_bin", "level1": "container", "level2": "garbage_bin", "level3": null, "level4": null, "level5": null }, { "object_name": "water_bottle", "level1": "container", "level2": "water_bottle", "level3": null, "level4": null, "level5": null }, { "object_name": "pen", "level1": "office_supplies", "level2": "pen", "level3": null, "level4": null, "level5": null }, { "object_name": "pen_holder", "level1": "garbage", "level2": "spitball", "level3": null, "level4": null, "level5": null }, { "object_name": "cola", "level1": "drink", "level2": "cola", "level3": null, "level4": null, "level5": null }, { "object_name": "milk", "level1": "drink", "level2": "milk", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "agilex_cobot_magic_aloha" ], "end_effector_type": "two_finger_gripper" } }, "AgiBot-g1_box_storage_a": { "dataset_name": "box_storage_a", "dataset_uuid": "a1e4a24d-cfb7-4719-a86c-d455555bc395", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null } ], "path": "AgiBot-g1_box_storage_a", "video_url": "./assets/videos/AgiBot-g1_box_storage_a.mp4", "thumbnail_url": "./assets/thumbnails/AgiBot-g1_box_storage_a.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "4.8GB", "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": "AgiBot-g1", "codebase_version": "v2.1", "statistics": { "total_episodes": 21, "total_frames": 11770, "total_tasks": 1, "total_videos": 168, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:20" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "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, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_back_left_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_back_right_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_center_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_left_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_right_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "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": [ 41 ], "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open", "robot_pos_x_m", "robot_pos_y_m", "robot_pos_z_m", "robot_quat_x", "robot_quat_y", "robot_quat_z", "robot_quat_w" ] }, "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", "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_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 }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "put the box on the table into the big box.", "sub_tasks": [ "Place the mouse and the power cord paper box into the container.", "Pick up the mouse and the power cord paper box.", "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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_back_left_fisheye_rgb", "name": "cam_back_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_back_right_fisheye_rgb", "name": "cam_back_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_center_fisheye_rgb", "name": "cam_high_center_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_left_fisheye_rgb", "name": "cam_high_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_right_fisheye_rgb", "name": "cam_high_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_back_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_back_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_center_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 41 ], "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open", "robot_pos_x_m", "robot_pos_y_m", "robot_pos_z_m", "robot_quat_x", "robot_quat_y", "robot_quat_z", "robot_quat_w" ] } }, "action_space": { "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", "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "AgiBot-g1_box_storage_a_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_back_left_fisheye_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_back_right_fisheye_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_high_center_fisheye_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_high_left_fisheye_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_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_high_right_fisheye_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "box_storage_a", "dataset_uuid": null, "task_descriptions": [ "put the box on the table into the big box." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null } ], "-operation_platform_height": null, "device_model": [ "tianqing_a2d" ], "end_effector_type": "two_finger_gripper" } }, "alpha_bot_2_press_the_button_b": { "dataset_name": "press_the_button_b", "dataset_uuid": "627d6f91-a0ba-46b7-96dd-616242c3a6af", "scene_type": [ "home" ], "atomic_actions": [ "pressbutton", "push" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "mineral_water", "level1": "drinks", "level2": "mineral_water", "level3": null, "level4": null, "level5": null }, { "object_name": "button", "level1": "toy", "level2": "button", "level3": null, "level4": null, "level5": null }, { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null } ], "path": "alpha_bot_2_press_the_button_b", "video_url": "./assets/videos/alpha_bot_2_press_the_button_b.mp4", "thumbnail_url": "./assets/thumbnails/alpha_bot_2_press_the_button_b.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "943.7MB", "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": "alpha_bot_2", "codebase_version": "v2.1", "statistics": { "total_episodes": 65, "total_frames": 50921, "total_tasks": 1, "total_videos": 260, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:64" }, "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_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_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": [ 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", "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" ] }, "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", "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" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "after removing the water bottle from the table, press the button.", "sub_tasks": [ "Touch the bottle with left gripper", "End", "Move the bottle away with right gripper", "Abnormal", "Press the button with right 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_chest_rgb", "name": "cam_chest_rgb", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_head_rgb", "name": "cam_head_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 } ], "observation_space": { "images": [ { "key": "observation.images.cam_chest_rgb", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_head_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" ] } ], "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", "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" ] } }, "action_space": { "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", "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "alpha_bot_2_press_the_button_b_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_chest_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_head_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "press_the_button_b", "task_descriptions": [ "after removing the water bottle from the table, press the button." ], "scene_type": [ "home" ], "atomic_actions": [ "pressbutton", "push" ], "objects": [ { "object_name": "mineral_water", "level1": "drinks", "level2": "mineral_water", "level3": null, "level4": null, "level5": null }, { "object_name": "button", "level1": "toy", "level2": "button", "level3": null, "level4": null, "level5": null }, { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "alpha_bot_2" ], "end_effector_type": "two_finger_gripper", "dataset_uuid": null } }, "AgiBot-g1_box_storage_tool": { "dataset_name": "box_storage_tool", "dataset_uuid": "4ed6d684-19e6-4881-9b9f-eabbb1a6789d", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "tool", "level1": "tool", "level2": "tool", "level3": null, "level4": null, "level5": null } ], "path": "AgiBot-g1_box_storage_tool", "video_url": "./assets/videos/AgiBot-g1_box_storage_tool.mp4", "thumbnail_url": "./assets/thumbnails/AgiBot-g1_box_storage_tool.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "1.2GB", "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": "AgiBot-g1", "codebase_version": "v2.1", "statistics": { "total_episodes": 99, "total_frames": 32860, "total_tasks": 1, "total_videos": 297, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:98" }, "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.state": { "dtype": "float32", "shape": [ 17 ], "names": [ "robot_joint_3_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", "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" ] }, "action": { "dtype": "float32", "shape": [ 17 ], "names": [ "robot_joint_3_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", "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 }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "Pick up the power cord from the box containing it and place it in another box.", "sub_tasks": [ "End", "Abnormal", "Grasp the data cable", "Place the data cable in the another box", "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 } ], "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" ] } ], "state": { "dtype": "float32", "shape": [ 17 ], "names": [ "robot_joint_3_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", "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" ] } }, "action_space": { "dtype": "float32", "shape": [ 17 ], "names": [ "robot_joint_3_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", "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "AgiBot-g1_box_storage_tool_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "box_storage_tool", "dataset_uuid": null, "task_descriptions": [ "put the tools in the box." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "tool", "level1": "tool", "level2": "tool", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "ruantong_a2d" ], "end_effector_type": "two_finger_gripper" } }, "R1_Lite_move_the_position_of_the_duck": { "dataset_name": "move_the_position_of_the_duck", "dataset_uuid": "da6ac6c0-2744-4f18-98b8-d87cbfcc8ce1", "scene_type": [ "home" ], "atomic_actions": [ "place", "pick", "grasp" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "pen", "level1": "office_supplies", "level2": "pen", "level3": null, "level4": null, "level5": null }, { "object_name": "banana", "level1": "fruit", "level2": "banana", "level3": null, "level4": null, "level5": null }, { "object_name": "bath_ball", "level1": "daily_necessities", "level2": "bath_ball", "level3": null, "level4": null, "level5": null }, { "object_name": "bowl", "level1": "container", "level2": "bowl", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "can", "level1": "container", "level2": "can", "level3": null, "level4": null, "level5": null }, { "object_name": "eraser", "level1": "office_supplies", "level2": "eraser", "level3": null, "level4": null, "level5": null }, { "object_name": "hard_cleanser", "level1": "daily_necessities", "level2": "hard_cleanser", "level3": null, "level4": null, "level5": null }, { "object_name": "long_bread", "level1": "food", "level2": "long_bread", "level3": null, "level4": null, "level5": null }, { "object_name": "peeler", "level1": "tool", "level2": "peeler", "level3": null, "level4": null, "level5": null }, { "object_name": "block", "level1": "toy", "level2": "block", "level3": null, "level4": null, "level5": null }, { "object_name": "duck", "level1": "toy", "level2": "duck", "level3": null, "level4": null, "level5": null }, { "object_name": "soap", "level1": "daily_necessities", "level2": "soap", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "basket", "level1": "container", "level2": "basket", "level3": null, 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"level5": null }, { "object_name": "bread_slice", "level1": "food", "level2": "bread_slice", "level3": null, "level4": null, "level5": null }, { "object_name": "brush", "level1": "daily_necessities", "level2": "brush", "level3": null, "level4": null, "level5": null }, { "object_name": "yogurt", "level1": "drink", "level2": "yogurt", "level3": null, "level4": null, "level5": null }, { "object_name": "power_strip", "level1": "electric_appliance", "level2": "power_strip", "level3": null, "level4": null, "level5": null }, { "object_name": "milk", "level1": "drink", "level2": "milk", "level3": null, "level4": null, "level5": null }, { "object_name": "soda", "level1": "drink", "level2": "soda", "level3": null, "level4": null, "level5": null }, { "object_name": "lime", "level1": "fruit", "level2": "lime", "level3": null, "level4": null, "level5": null }, { "object_name": "coffee_capsule", "level1": "drink", "level2": "coffee_capsule", "level3": null, "level4": null, "level5": null }, { "object_name": "dish", "level1": "container", "level2": "dish", "level3": null, "level4": null, "level5": null }, { "object_name": "glass", "level1": "furniture", "level2": "glass", "level3": null, "level4": null, "level5": null }, { "object_name": "egg_yolk_pastry", "level1": "food", "level2": "egg_yolk_pastry", "level3": null, "level4": null, "level5": null }, { "object_name": "glasses_case", "level1": "daily_necessities", "level2": "glasses_case", "level3": null, "level4": null, "level5": null }, { "object_name": "gum", "level1": "daily_necessities", "level2": "gum", "level3": null, "level4": null, "level5": null }, { "object_name": "tape", "level1": "daily_necessities", "level2": "tape", "level3": null, "level4": null, "level5": null }, { "object_name": "soft_cleanser", "level1": "daily_necessities", "level2": "soft_cleanser", "level3": null, "level4": null, "level5": null }, { "object_name": "chips", "level1": "food", "level2": "chips", "level3": null, "level4": null, "level5": null }, { "object_name": "chocolate", "level1": "food", "level2": "chocolate", "level3": null, "level4": null, "level5": null }, { "object_name": "cookie", "level1": "food", "level2": "cookie", "level3": null, "level4": null, "level5": null }, { "object_name": "spoon", "level1": "tableware", "level2": "spoon", "level3": null, "level4": null, "level5": null } ], "path": "R1_Lite_move_the_position_of_the_duck", "video_url": "./assets/videos/R1_Lite_move_the_position_of_the_duck.mp4", "thumbnail_url": "./assets/thumbnails/R1_Lite_move_the_position_of_the_duck.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "348.2MB", "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": "R1_Lite", "codebase_version": "v2.1", "statistics": { "total_episodes": 40, "total_frames": 12223, "total_tasks": 1, "total_videos": 160, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:39" }, "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_left_rgb": { "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_right_rgb": { "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 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" ] }, "action": { "dtype": "float32", "shape": [ 18 ], "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 }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "put the duck the designated position.", "sub_tasks": [ "Grasp the red duck with right gripper", "Static", "Place the red duck on the table with right gripper", "Grasp the red duck with left gripper", "End", "Place the red duck on the table with left gripper", "Abnormal", "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_left_rgb", "name": "cam_high_left_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_right_rgb", "name": "cam_high_right_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_left_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_right_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "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" ] } }, "action_space": { "dtype": "float32", "shape": [ 18 ], "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "R1_Lite_move_the_position_of_the_duck_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_left_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_high_right_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "move_the_position_of_the_duck", "dataset_uuid": null, "task_descriptions": [ "put the duck the designated position." ], "scene_type": [ "home" ], "atomic_actions": [ "place", "pick", "grasp" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "pen", "level1": "office_supplies", "level2": "pen", "level3": null, "level4": null, "level5": null }, { "object_name": "banana", "level1": "fruit", "level2": "banana", "level3": null, "level4": null, "level5": null }, { "object_name": "bath_ball", "level1": "daily_necessities", "level2": "bath_ball", "level3": null, "level4": null, "level5": null }, { "object_name": "bowl", "level1": "container", "level2": "bowl", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "can", "level1": "container", "level2": "can", "level3": null, "level4": null, "level5": null }, { "object_name": "eraser", "level1": "office_supplies", "level2": "eraser", "level3": null, "level4": null, "level5": null }, { "object_name": "hard_cleanser", "level1": "daily_necessities", "level2": "hard_cleanser", "level3": null, "level4": null, "level5": null }, { "object_name": "long_bread", "level1": "food", "level2": "long_bread", "level3": null, "level4": null, "level5": null }, { "object_name": "peeler", "level1": "tool", "level2": "peeler", "level3": null, "level4": null, "level5": null }, { "object_name": "block", "level1": "toy", "level2": "block", "level3": null, "level4": null, "level5": null }, { "object_name": "duck", "level1": "toy", "level2": "duck", "level3": null, "level4": null, "level5": null }, { "object_name": "soap", "level1": "daily_necessities", "level2": "soap", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "basket", "level1": "container", "level2": "basket", "level3": null, "level4": null, "level5": null }, { "object_name": "cola", "level1": "drink", "level2": "cola", "level3": null, "level4": null, "level5": null }, { "object_name": "detergent", "level1": "daily_necessities", "level2": "detergent", "level3": null, "level4": null, "level5": null }, { "object_name": "egg_beater", "level1": "electrical_appliances", "level2": "egg_beater", "level3": null, "level4": null, "level5": null }, { "object_name": "towel", "level1": "clothing", "level2": "towel", "level3": null, "level4": null, "level5": null }, { "object_name": "orange", "level1": "fruit", "level2": "orange", "level3": null, "level4": null, "level5": null }, { "object_name": "peach", "level1": "fruit", "level2": "peach", "level3": null, "level4": null, "level5": null }, { "object_name": "marker", "level1": "office_supplies", "level2": "marker", "level3": null, "level4": null, "level5": null }, { "object_name": "rubiks_cube", "level1": "toy", "level2": "rubiks_cube", "level3": null, "level4": null, "level5": null }, { "object_name": "bread_slice", "level1": "food", "level2": "bread_slice", "level3": null, "level4": null, "level5": null }, { "object_name": "brush", "level1": "daily_necessities", "level2": "brush", "level3": null, "level4": null, "level5": null }, { "object_name": "yogurt", "level1": "drink", "level2": "yogurt", "level3": null, "level4": null, "level5": null }, { "object_name": "power_strip", "level1": "electric_appliance", "level2": "power_strip", "level3": null, "level4": null, "level5": null }, { "object_name": "milk", "level1": "drink", "level2": "milk", "level3": null, "level4": null, "level5": null }, { "object_name": "soda", "level1": "drink", "level2": "soda", "level3": null, "level4": null, "level5": null }, { "object_name": "lime", "level1": "fruit", "level2": "lime", "level3": null, "level4": null, "level5": null }, { "object_name": "coffee_capsule", "level1": "drink", "level2": "coffee_capsule", "level3": null, "level4": null, "level5": null }, { "object_name": "dish", "level1": "container", "level2": "dish", "level3": null, "level4": null, "level5": null }, { "object_name": "glass", "level1": "furniture", "level2": "glass", "level3": null, "level4": null, "level5": null }, { "object_name": "egg_yolk_pastry", "level1": "food", "level2": "egg_yolk_pastry", "level3": null, "level4": null, "level5": null }, { "object_name": "glasses_case", "level1": "daily_necessities", "level2": "glasses_case", "level3": null, "level4": null, "level5": null }, { "object_name": "gum", "level1": "daily_necessities", "level2": "gum", "level3": null, "level4": null, "level5": null }, { "object_name": "tape", "level1": "daily_necessities", "level2": "tape", "level3": null, "level4": null, "level5": null }, { "object_name": "soft_cleanser", "level1": "daily_necessities", "level2": "soft_cleanser", "level3": null, "level4": null, "level5": null }, { "object_name": "chips", "level1": "food", "level2": "chips", "level3": null, "level4": null, "level5": null }, { "object_name": "chocolate", "level1": "food", "level2": "chocolate", "level3": null, "level4": null, "level5": null }, { "object_name": "cookie", "level1": "food", "level2": "cookie", "level3": null, "level4": null, "level5": null }, { "object_name": "spoon", "level1": "tableware", "level2": "spoon", "level3": null, "level4": null, "level5": null } ], "device_model": [ "galaxea_r1_lite" ], "end_effector_type": "two_finger_gripper", "operation_platform_height": 77.2 } }, "RMC-AIDA-L_place_test_tube": { "dataset_name": "place_test_tube", "dataset_uuid": "7ed8e496-1917-4844-a0f7-98fe52c1477d", "scene_type": [ "school", "hospital" ], "atomic_actions": [ "grasp", "place", "pick", "move" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "test_tube_rack", "level1": "container", "level2": "test_tube_rack", "level3": null, "level4": null, "level5": null }, { "object_name": "test_tube", "level1": "container", "level2": "test_tube", "level3": null, "level4": null, "level5": null } ], "path": "RMC-AIDA-L_place_test_tube", "video_url": "./assets/videos/RMC-AIDA-L_place_test_tube.mp4", "thumbnail_url": "./assets/thumbnails/RMC-AIDA-L_place_test_tube.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "4.0GB", "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": "RMC-AIDA-L", "codebase_version": "v2.1", "statistics": { "total_episodes": 648, "total_frames": 365863, "total_tasks": 1, "total_videos": 1944, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:647" }, "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.state": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] }, "action": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "Pick up the test tube rack with one hand, transfer it to the other, and then place it into the test tube rack.", "sub_tasks": [ "Place the test tube on the test tube rack with the left gripper ", "End", "Pass the test tube from the left gripper to the right gripper", "pick up the test tube with the right gripper ", "Place the test tubes on the test tube rack with the left gripper", "move the test tube from the right gripper to the left gripper ", "Pick up the test tube with the right gripper", "Grasp the arch-shaped block with the left gripper", "Pick up the test tube with the left gripper", "Place the test tubes on the test tube rack with the right gripper", "Pass the test tube from the right gripper to 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 } ], "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" ] } ], "state": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] } }, "action_space": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "RMC-AIDA-L_place_test_tube_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "place_test_tube", "dataset_uuid": null, "task_descriptions": [ "pick up the test tube rack with the left hand, transfer it to the right, then place it into the test tube rack.", "pick up the test tube rack with the left hand, transfer it to the right, then place it into the test tube rack." ], "scene_type": [ "school", "hospital" ], "atomic_actions": [ "grasp", "place", "pick", "move" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "test_tube_rack", "level1": "container", "level2": "test_tube_rack", "level3": null, "level4": null, "level5": null }, { "object_name": "test_tube", "level1": "container", "level2": "test_tube", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "realman_rmc_aidal" ], "end_effector_type": "two_finger_gripper" } }, "leju_robot_moving_parts_m": { "dataset_name": "moving_parts_m", "dataset_uuid": "fb9bf451-cf8b-4da5-b5c1-13529609f049", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "end_effector_type": [ "five_finger_hand" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "cabinet", "level1": "furniture", "level2": "cabinet", "level3": null, "level4": null, "level5": null }, { "object_name": "parts", "level1": "mechanical_parts", "level2": "parts", "level3": null, "level4": null, "level5": null } ], "path": "leju_robot_moving_parts_m", "video_url": "./assets/videos/leju_robot_moving_parts_m.mp4", "thumbnail_url": "./assets/thumbnails/leju_robot_moving_parts_m.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "50.9GB", "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": "leju_robot", "codebase_version": "v2.1", "statistics": { "total_episodes": 490, "total_frames": 742399, "total_tasks": 1, "total_videos": 1470, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:489" }, "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.camera_head_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_left_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_right_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "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": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] }, "action": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "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": "take the parts from the cabinet and place them on the table.", "sub_tasks": [ "Place the black part on the table with right gripper", "Pick up the large material from the shelf.", "Insert the large material into the corresponding slot on the workbench.", "End", "Grasp the black part with right gripper", "Move the large material to the workbench.", "Move to the initial position of the shelf.", "Move to the table behind body", "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.camera_head_rgb", "name": "camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_left_wrist_rgb", "name": "camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_right_wrist_rgb", "name": "camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] } }, "action_space": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "leju_robot_moving_parts_m_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.camera_head_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.camera_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.camera_right_wrist_rgb/\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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "moving_parts_m", "dataset_uuid": null, "task_descriptions": [ "take the parts from the cabinet and place them on the table." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "cabinet", "level1": "furniture", "level2": "cabinet", "level3": null, "level4": null, "level5": null }, { "object_name": "parts", "level1": "mechanical_parts", "level2": "parts", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "leju_robot" ], "end_effector_type": "two_finger_gripper" } }, "AIRBOT_MMK2_stacking_blocks": { "dataset_name": "stacking_blocks", "dataset_uuid": "cdff2820-6ed6-414f-add9-1454a57a81b2", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "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": "building_block", "level1": "toy", "level2": "building_block", "level3": null, "level4": null, "level5": null } ], "path": "AIRBOT_MMK2_stacking_blocks", "video_url": "./assets/videos/AIRBOT_MMK2_stacking_blocks.mp4", "thumbnail_url": "./assets/thumbnails/AIRBOT_MMK2_stacking_blocks.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "2.2GB", "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": 213, "total_frames": 52766, "total_tasks": 5, "total_videos": 852, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:212" }, "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": "Pick up the red rectangular block from one side of the table with one hand and place it in the center, then pick up the blue hexagonal wooden block from the other side with your other hand and place it on top of the red block.\nMove the large block from one side to the center with one hand, and stack the small blocks on top of it with your other hand.\nPick up a block from the table with one hand and place it on the blocks, then pick up another block from the table with your other hand and place it on the blocks.\nPick up the blue cube from one side of the table with one hand and place it on top of the yellow cube in the middle, then pick up the green cube from the other side with your other hand and place it on top of the blue cube.\nPick up the blue cube from the table with one hand and place it on the small table, then pick up the red cube from the table with your other hand and place it on top of the blue cube.", "sub_tasks": [ "Place the yellow cube on the orange cube with the right gripper", "Static", "Grasp the blue rhombic cuboid block with the right gripper", "Grasp the red cuboid block with the left gripper", "Grasp the blue small cube with the left gripper", "Place the red small cube on the blue small cube with the right gripper", "Place the red cuboid block in the center of view with the left gripper", "Grasp the big red cube with the left gripper", "Abnormal", "Place the orange cube on the yellow cube with the right gripper", "Place the green small cube on the blue small cube with the right gripper", "Grasp the green small cube with the right gripper", "Grasp the red small cube with the right gripper", "Grasp the blue cube with the right gripper", "Place the blue cube on the red cube with the left gripper", "Grasp the orange cube with the right gripper", "Grasp the blue cube with the left gripper", "Place the blue small cube on the small table with the left gripper", "End", "Place the blue rhombic cuboid block on the red cuboid block with the right gripper", "Place the blue small cube on the yellow small cube with the left gripper", "Place the big red cube in the center of view with the left gripper", "Grasp the yellow cube with the right gripper", "Place theblue cube on the big red cube with the right 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_stacking_blocks_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "stacking_blocks", "dataset_uuid": null, "task_descriptions": [ "use your left hand to move the large block on the left side to the center, and use your right hand to stack the small blocks on top of the large block.", "use your left hand to pick up a block from the table and place it on the blocks. use your right hand to pick up another block from the table and place it on the blocks.", "use your left hand to pick up the blue cube from the left side of the table and place it on top of the yellow cube in the middle of the table. use your right hand to pick up the green cube from the right side of the table and place it on top of the blue cube.", "pick up the blue cube from the table with your left hand and place it on the small table. then, pick up the red cube from the table with your right hand and place it on top of the blue cube.", "use your left hand to pick up the red rectangular block on the left side of the table and place it in the center of the table. use your right hand to pick up the blue hexagonal wooden block on the right side of the table and place it on top of the red rectangular block." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "building_block", "level1": "toy", "level2": "building_block", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "airbot mmk2" ], "end_effector_type": "five_finger_hand" } }, "R1_Lite_catch_the_water": { "dataset_name": "catch_the_water", "dataset_uuid": "071ba9f6-2258-439b-82bd-6fec0968ae25", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place", "open", "close" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "water_dispenser", "level1": "container", "level2": "water_dispenser", "level3": null, "level4": null, "level5": null }, { "object_name": "cup", "level1": "container", "level2": "cup", "level3": null, "level4": null, "level5": null } ], "path": "R1_Lite_catch_the_water", "video_url": "./assets/videos/R1_Lite_catch_the_water.mp4", "thumbnail_url": "./assets/thumbnails/R1_Lite_catch_the_water.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "5.6GB", "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": "R1_Lite", "codebase_version": "v2.1", "statistics": { "total_episodes": 148, "total_frames": 133503, "total_tasks": 1, "total_videos": 444, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:147" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "fill cup with faucet water then turn off and place on table.", "sub_tasks": [ "Place the cup next to the water dispenser", "abnormal", "Pick up the cup", "Turn off the faucet", "Place it under the water dispenser", "Turn on the faucet", "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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "R1_Lite_catch_the_water_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "catch_the_water", "dataset_uuid": null, "task_descriptions": [ "pick up the cup from the table and place it in the drain. turn on the faucet and fill it with water. turn off the faucet and put the cup back in its original position." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place", "open", "close" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "water_dispenser", "level1": "container", "level2": "water_dispenser", "level3": null, "level4": null, "level5": null }, { "object_name": "cup", "level1": "container", "level2": "cup", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "galaxea_r1_lite" ], "end_effector_type": "two_finger_gripper" } }, "AIRBOT_MMK2_place_the_glasses_case_and_gold_bars": { "dataset_name": "place_the_glasses_case_and_gold_bars", "dataset_uuid": "fc8bbdff-5847-4a9e-b1c1-634bab1b4ed7", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "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": "glasses_case", "level1": "container", "level2": "glasses_case", "level3": null, "level4": null, "level5": null }, { "object_name": "gold_bar", "level1": "metal", "level2": "gold_bar", "level3": null, "level4": null, "level5": null } ], "path": "AIRBOT_MMK2_place_the_glasses_case_and_gold_bars", "video_url": "./assets/videos/AIRBOT_MMK2_place_the_glasses_case_and_gold_bars.mp4", "thumbnail_url": "./assets/thumbnails/AIRBOT_MMK2_place_the_glasses_case_and_gold_bars.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "412.7MB", "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": 10180, "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": "Hold the glasses case in the middle of the table with one hand and place the gold bar on it with your other hand.", "sub_tasks": [ "Place the glasses case on the middle of the table with the left gripper", "End", "Static", "Place the gold bar on the glasses case with the right gripper", "Grasp the glasses case with the left gripper", "Grasp the gold bar the right gripper", "Abnormal", "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_place_the_glasses_case_and_gold_bars_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "place_the_glasses_case_and_gold_bars", "dataset_uuid": null, "task_descriptions": [ "hold the glasses case in the middle of the table with your left hand and place the gold bar on the glasses case with your right hand." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "glasses_case", "level1": "container", "level2": "glasses_case", "level3": null, "level4": null, "level5": null }, { "object_name": "gold_bar", "level1": "metal", "level2": "gold_bar", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "airbot mmk2" ], "end_effector_type": "five_finger_hand" } }, "AgiBot-g1_box_storage_part_a": { "dataset_name": "box_storage_part_a", "dataset_uuid": "24378624-9647-4aad-82ac-d822bb7bc50d", "scene_type": [ "factory" ], "atomic_actions": [ "place", "pick", "grasp" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "part", "level1": "tool", "level2": "part", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "tray", "level1": "container", "level2": "tray", "level3": null, "level4": null, "level5": null } ], "path": "AgiBot-g1_box_storage_part_a", "video_url": "./assets/videos/AgiBot-g1_box_storage_part_a.mp4", "thumbnail_url": "./assets/thumbnails/AgiBot-g1_box_storage_part_a.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "105.7GB", "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": "AgiBot-g1", "codebase_version": "v2.1", "statistics": { "total_episodes": 335, "total_frames": 205995, "total_tasks": 1, "total_videos": 2680, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:334" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "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, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_back_left_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_back_right_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_center_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_left_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_right_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "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": [ 41 ], "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open", "robot_pos_x_m", "robot_pos_y_m", "robot_pos_z_m", "robot_quat_x", "robot_quat_y", "robot_quat_z", "robot_quat_w" ] }, "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", "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_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 }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "pick up the parts on the tray and put them in the cardboard box.", "sub_tasks": [ "Pick up the IO bracket from the container box.", "Place the IO bracket into the ingredient slot.", "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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_back_left_fisheye_rgb", "name": "cam_back_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_back_right_fisheye_rgb", "name": "cam_back_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_center_fisheye_rgb", "name": "cam_high_center_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_left_fisheye_rgb", "name": "cam_high_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_right_fisheye_rgb", "name": "cam_high_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_back_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_back_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_center_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 41 ], "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open", "robot_pos_x_m", "robot_pos_y_m", "robot_pos_z_m", "robot_quat_x", "robot_quat_y", "robot_quat_z", "robot_quat_w" ] } }, "action_space": { "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", "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "AgiBot-g1_box_storage_part_a_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_back_left_fisheye_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_back_right_fisheye_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_high_center_fisheye_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_high_left_fisheye_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_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_high_right_fisheye_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "box_storage_part_a", "dataset_uuid": null, "task_descriptions": [ "pick up the parts on the tray and put them in the cardboard box." ], "scene_type": [ "factory" ], "atomic_actions": [ "place", "pick", "grasp" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "part", "level1": "tool", "level2": "part", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "tray", "level1": "container", "level2": "tray", "level3": null, "level4": null, "level5": null } ], "-operation_platform_height": null, "device_model": [ "ruantong_a2d" ], "end_effector_type": "two_finger_gripper" } }, "Cobot_Magic_plate_storage_bread": { "dataset_name": "plate_storage_bread", "dataset_uuid": "f4001f44-f88b-4812-a364-a7f937d58496", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "bread", "level1": "food", "level2": "bread", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null } ], "path": "Cobot_Magic_plate_storage_bread", "video_url": "./assets/videos/Cobot_Magic_plate_storage_bread.mp4", "thumbnail_url": "./assets/thumbnails/Cobot_Magic_plate_storage_bread.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "515.0MB", "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": "Cobot_Magic", "codebase_version": "v2.1", "statistics": { "total_episodes": 100, "total_frames": 27875, "total_tasks": 1, "total_videos": 300, "total_chunks": 1, "chunks_size": 1000, "fps": 50 }, "splits": { "train": "0:99" }, "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": 50, "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": 50, "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": 50, "video.channels": 3, "has_audio": false } }, "observation.state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "grasp the yellow bread and place it into the yellow plate.", "sub_tasks": [ "Grasp the yellow bread", "Place the bread into the yellow plate", "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": 50, "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": 50, "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": 50, "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" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Cobot_Magic_plate_storage_bread_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "plate_storage_bread", "dataset_uuid": null, "task_descriptions": [ "grasp the red bread and place it into the yellow plate." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "bread", "level1": "food", "level2": "bread", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "agilex_cobot_decoupled_magic" ], "end_effector_type": "two_finger_gripper" } }, "leju_robot_box_storage_parcel_h": { "dataset_name": "box_storage_parcel_h", "dataset_uuid": "6dd99999-811b-4ae1-aac2-7a5b81087eaa", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "five_finger_hand" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "parcel", "level1": "container", "level2": "parcel", "level3": null, "level4": null, "level5": null }, { "object_name": "conveyor_belt", "level1": "tool", "level2": "conveyor_belt", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null } ], "path": "leju_robot_box_storage_parcel_h", "video_url": "./assets/videos/leju_robot_box_storage_parcel_h.mp4", "thumbnail_url": "./assets/thumbnails/leju_robot_box_storage_parcel_h.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "7.7GB", "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": "leju_robot", "codebase_version": "v2.1", "statistics": { "total_episodes": 389, "total_frames": 149279, "total_tasks": 1, "total_videos": 1167, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:388" }, "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.camera_head_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_left_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_right_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "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": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] }, "action": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "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": "moved the parcel from conveyor to table for the left to box.", "sub_tasks": [ "Place the package into the parcel locker.", "Pick up the package from the inbound machine.", "Pick up the package from the conveyor belt.", "Place the package onto the inbound machine.", "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.camera_head_rgb", "name": "camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_left_wrist_rgb", "name": "camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_right_wrist_rgb", "name": "camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] } }, "action_space": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "leju_robot_box_storage_parcel_h_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.camera_head_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.camera_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.camera_right_wrist_rgb/\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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "box_storage_parcel_h", "dataset_uuid": null, "task_descriptions": [ "move the parcel with right hand from conveyor to table and then move the parcel to the left box with left hand." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "parcel", "level1": "container", "level2": "parcel", "level3": null, "level4": null, "level5": null }, { "object_name": "conveyor_belt", "level1": "tool", "level2": "conveyor_belt", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "leju_kuavo_4_pro" ], "end_effector_type": "five_finger_gripper" } }, "G1edu-u3_pick_cup_a": { "dataset_name": "pick_cup_a", "dataset_uuid": "6c4e6e81-bded-43dc-a803-02147d6eb107", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick" ], "end_effector_type": [ "three_finger_hand" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "cup", "level1": "container", "level2": "cup", "level3": null, "level4": null, "level5": null } ], "path": "G1edu-u3_pick_cup_a", "video_url": "./assets/videos/G1edu-u3_pick_cup_a.mp4", "thumbnail_url": "./assets/thumbnails/G1edu-u3_pick_cup_a.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "1K-10K", "dataset_size": "88.4MB", "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": "G1edu-u3", "codebase_version": "v2.1", "statistics": { "total_episodes": 24, "total_frames": 8046, "total_tasks": 1, "total_videos": 24, "total_chunks": 1, "chunks_size": 24, "fps": 30 }, "splits": { "train": "0:23" }, "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.ego_view": { "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.state": { "dtype": "float32", "shape": [ 30 ], "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": [ 30 ], "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": "float64", "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": "Pick up the red apple\nPick up the red apple\nPick up the water bottle\nPick up the water bottle\nPick up the white cup\nPick up the lemon\nPlace the red apple\nPlace the red apple in the basket\nPlace the red apple on the blue rectangle plate\nPlace the red apple on the orange round plate\nPlace the water bottle\nPlace the water bottle\nPlace the white cup\nPlace the lemon on the blue rectangle plate\nPlace the lemon on the orange round plate", "sub_tasks": [ "End", "Grasp the paper cup and lift it to the center of the view with right gripper", "Grasp the paper cup and lift it to the center of the view with 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.ego_view", "name": "ego_view", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.ego_view", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channel" ] } ], "state": { "dtype": "float32", "shape": [ 30 ], "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_space": { "dtype": "float32", "shape": [ 30 ], "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "G1edu-u3_pick_cup_a_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.ego_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "pick_cup_a", "dataset_uuid": null, "task_descriptions": [ "pick up the cup on the table." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "cup", "level1": "container", "level2": "cup", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "unitree_g1" ], "end_effector_type": "three_finger_hand" } }, "AgiBot-g1_box_storage_cardboard_box_b": { "dataset_name": "box_storage_cardboard_box_b", "dataset_uuid": "7e28f5b3-7a48-4d52-b01e-390390932ffd", "scene_type": [ "home" ], "atomic_actions": [ "place", "pick", "grasp" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "paper_box", "level1": "tool", "level2": "paper_box", "level3": null, "level4": null, "level5": null }, { "object_name": "carton", "level1": "tool", "level2": "carton", "level3": null, "level4": null, "level5": null } ], "path": "AgiBot-g1_box_storage_cardboard_box_b", "video_url": "./assets/videos/AgiBot-g1_box_storage_cardboard_box_b.mp4", "thumbnail_url": "./assets/thumbnails/AgiBot-g1_box_storage_cardboard_box_b.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "56.9GB", "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": "AgiBot-g1", "codebase_version": "v2.1", "statistics": { "total_episodes": 247, "total_frames": 115855, "total_tasks": 1, "total_videos": 1976, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:246" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "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, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_center_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_left_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_right_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_back_left_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_back_right_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "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": [ 41 ], "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open", "robot_pos_x_m", "robot_pos_y_m", "robot_pos_z_m", "robot_quat_x", "robot_quat_y", "robot_quat_z", "robot_quat_w" ] }, "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", "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_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 }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "using a robotic arm to pick up a cardboard box and palace it the carton.", "sub_tasks": [ "Place the mouse and the power cord paper box into the container.", "Pick up the mouse and the power cord paper box.", "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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_center_fisheye_rgb", "name": "cam_high_center_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_left_fisheye_rgb", "name": "cam_high_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_right_fisheye_rgb", "name": "cam_high_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_back_left_fisheye_rgb", "name": "cam_back_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_back_right_fisheye_rgb", "name": "cam_back_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_center_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_back_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_back_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 41 ], "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open", "robot_pos_x_m", "robot_pos_y_m", "robot_pos_z_m", "robot_quat_x", "robot_quat_y", "robot_quat_z", "robot_quat_w" ] } }, "action_space": { "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", "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "AgiBot-g1_box_storage_cardboard_box_b_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_back_left_fisheye_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_back_right_fisheye_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_high_center_fisheye_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_high_left_fisheye_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_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_high_right_fisheye_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "box_storage_cardboard_box_b", "dataset_uuid": null, "task_descriptions": [ "using a robotic arm to pick up a cardboard box and palace it the carton." ], "scene_type": [ "home" ], "atomic_actions": [ "place", "pick", "grasp" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "paper_box", "level1": "tool", "level2": "paper_box", "level4": null, "level5": null }, { "object_name": "carton", "level1": "tool", "level2": "carton", "level3": null, "level4": null, "level5": null } ], "-operation_platform_height": null, "device_model": [ "tianqing_a2d" ], "end_effector_type": "two_finger_gripper" } }, "R1_Lite_put_the_tableware_into_the_cupboard": { "dataset_name": "put_the_tableware_into_the_cupboard", "dataset_uuid": "49bc9e7b-4491-4846-95a2-082b0e4f9178", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "cabinet", "level1": "furniture", "level2": "cabinet", "level3": null, "level4": null, "level5": null }, { "object_name": "bowl", "level1": "container", "level2": "bowl", "level3": null, "level4": null, "level5": null }, { "object_name": "chopsticks", "level1": "tableware", "level2": "chopsticks", "level3": null, "level4": null, "level5": null }, { "object_name": "spoon", "level1": "tableware", "level2": "spoon", "level3": null, "level4": null, "level5": null }, { "object_name": "fork", "level1": "tableware", "level2": "fork", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null } ], "path": "R1_Lite_put_the_tableware_into_the_cupboard", "video_url": "./assets/videos/R1_Lite_put_the_tableware_into_the_cupboard.mp4", "thumbnail_url": "./assets/thumbnails/R1_Lite_put_the_tableware_into_the_cupboard.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "15.5GB", "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": "R1_Lite", "codebase_version": "v2.1", "statistics": { "total_episodes": 143, "total_frames": 367607, "total_tasks": 1, "total_videos": 429, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:142" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "put tableware in cabinet then back to counter and close.", "sub_tasks": [ "Place the fork in the cutlery box", "Place the spoon on the plate", "Take the bowl out of the cupboard", "Pick up the bowl and place it in the cupboard", "Take the chopsticks out of the cupboard", "Pull apart the shelf", "Pick up the chopsticks and place it in the cupboard", "End", "Take the plate out of the cupboard", "Place the bowl on the shelf", "Take the fork out of the cupboard", "Abnormal", "Place the plate on the table", "Pick up the plate and place it in the cupboard", "Place a chopstick on the table", "Place the plate on the shelf", "Pull apart the cupboard", "Place the fork on the table", "Place a pair of chopsticks in the cutlery box", "Take the spoon out of the cupboard", "Place the bowl on the plate", "Place the spoon on the table", "Place the spoon on the cutlery box", "Open the cupboard", "Pick up the spoon and place it in the cupboard", "Close the cupboard", "Pick up the fork and place it in the cupboard", "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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "R1_Lite_put_the_tableware_into_the_cupboard_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "put_the_tableware_into_the_cupboard", "dataset_uuid": null, "task_descriptions": [ "put tableware in cabinet then back to counter and close." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "cabinet", "level1": "furniture", "level2": "cabinet", "level3": null, "level4": null, "level5": null }, { "object_name": "bowl", "level1": "container", "level2": "bowl", "level3": null, "level4": null, "level5": null }, { "object_name": "chopsticks", "level1": "tableware", "level2": "chopsticks", "level3": null, "level4": null, "level5": null }, { "object_name": "spoon", "level1": "tableware", "level2": "spoon", "level3": null, "level4": null, "level5": null }, { "object_name": "fork", "level1": "tableware", "level2": "fork", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "galaxea_r1_lite" ], "end_effector_type": "two_finger_gripper" } }, "Cobot_Magic_fold_the_towel": { "dataset_name": "fold_the_towel", "dataset_uuid": "15a5b235-0337-4484-9e0f-be8def7a8879", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick", "fold" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "tablecloth", "level1": "clothing", "level2": "tablecloth", "level3": null, "level4": null, "level5": null }, { "object_name": "towel", "level1": "clothing", "level2": "towel", "level3": null, "level4": null, "level5": null } ], "path": "Cobot_Magic_fold_the_towel", "video_url": "./assets/videos/Cobot_Magic_fold_the_towel.mp4", "thumbnail_url": "./assets/thumbnails/Cobot_Magic_fold_the_towel.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "5.1GB", "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": "Cobot_Magic", "codebase_version": "v2.1", "statistics": { "total_episodes": 177, "total_frames": 235124, "total_tasks": 3, "total_videos": 531, "total_chunks": 1, "chunks_size": 1000, "fps": 50 }, "splits": { "train": "0:176" }, "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": 50, "video.channels": 3, "has_audio": false } }, "observation.images.cam_left_wrist_rgb_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": 50, "video.channels": 3, "has_audio": false } }, "observation.images.cam_right_wrist_rgb_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": 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"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 ] }, "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 ] }, "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 ] } }, "tasks": "fold the pink towel on the table with a white tablecloth.\nfold the pink towel on the table with a grey tablecloth.\nfold the pink towel on the white table.", "sub_tasks": [ "End", "Fold the towel upwards with the both gripper", "Fold the towel upwards with the right gripper", "Tidy up the towels", "Fold the towel from right to left with the right gripper", "Fold the towel upwards with the left gripper", "Fold the towel", "abnormal", "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": 50, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb_rgb", "name": "cam_left_wrist_rgb_rgb", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 50, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb_rgb", "name": "cam_right_wrist_rgb_rgb", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 50, "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_rgb", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb_rgb", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Cobot_Magic_fold_the_towel_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_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_rgb/\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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "fold_the_towel", "dataset_uuid": null, "task_descriptions": [ "fold the pink towel on the table with a white tablecloth.", "fold the green towel on the table with a white tablecloth", "fold the pink towel on the table with a grey tablecloth.", "fold the pink towel on the white table.", "fold the pink towel on the table with a green tablecloth." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick", "fold" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "tablecloth", "level1": "clothing", "level2": "tablecloth", "level3": null, "level4": null, "level5": null }, { "object_name": "towel", "level1": "clothing", "level2": "towel", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "agilex_cobot_decoupled_magic" ], "end_effector_type": "two_finger_gripper" } }, 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"plate", "level3": null, "level4": null, "level5": null }, { "object_name": "can", "level1": "container", "level2": "can", "level3": null, "level4": null, "level5": null }, { "object_name": "eraser", "level1": "office_supplies", "level2": "eraser", "level3": null, "level4": null, "level5": null }, { "object_name": "hard_cleanser", "level1": "daily_necessities", "level2": "hard_cleanser", "level3": null, "level4": null, "level5": null }, { "object_name": "long_bread", "level1": "food", "level2": "long_bread", "level3": null, "level4": null, "level5": null }, { "object_name": "peeler", "level1": "tool", "level2": "peeler", "level3": null, "level4": null, "level5": null }, { "object_name": "block", "level1": "toy", "level2": "block", "level3": null, "level4": null, "level5": null }, { "object_name": "duck", "level1": "toy", "level2": "duck", "level3": null, "level4": null, "level5": null }, { "object_name": "soap", "level1": "daily_necessities", "level2": "soap", "level3": null, "level4": 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"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": "R1_Lite", "codebase_version": "v2.1", "statistics": { "total_episodes": 61, "total_frames": 15618, "total_tasks": 1, "total_videos": 244, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:60" }, "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_left_rgb": { "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_right_rgb": { "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 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" ] }, "action": { "dtype": "float32", "shape": [ 18 ], "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 }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "put the black marker in the designated position.", "sub_tasks": [ "Grasp the Marker pen with left gripper", "Grasp the Marker pen with right gripper", "Place the Marker pen on the table with right gripper", "Static", "End", "Place the Marker pen on the table with 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_left_rgb", "name": "cam_high_left_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_right_rgb", "name": "cam_high_right_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_left_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_right_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "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" ] } }, "action_space": { "dtype": "float32", "shape": [ 18 ], "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "R1_Lite_move_the_position_of_the_black_marker_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_left_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_high_right_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "move_the_position_of_the_black_marker", "dataset_uuid": null, "task_descriptions": [ "put the black marker in the designated position." ], "scene_type": [ "home" ], "atomic_actions": [ "place", "pick", "grasp" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "pen", "level1": "office_supplies", "level2": "pen", "level3": null, "level4": null, "level5": null }, { "object_name": "banana", "level1": "fruit", "level2": "banana", "level3": null, "level4": null, "level5": null }, { "object_name": "bath_ball", "level1": "daily_necessities", "level2": "bath_ball", "level3": null, "level4": null, "level5": null }, { "object_name": "bowl", "level1": "container", "level2": "bowl", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "can", "level1": "container", "level2": "can", "level3": null, "level4": null, "level5": null }, { "object_name": "eraser", "level1": "office_supplies", "level2": "eraser", "level3": null, "level4": null, "level5": null }, { "object_name": "hard_cleanser", "level1": "daily_necessities", "level2": "hard_cleanser", "level3": null, "level4": null, "level5": null }, { "object_name": "long_bread", "level1": "food", "level2": "long_bread", "level3": null, "level4": null, "level5": null }, { "object_name": "peeler", "level1": "tool", "level2": "peeler", "level3": null, "level4": null, "level5": null }, { "object_name": "block", "level1": "toy", "level2": "block", "level3": null, "level4": null, "level5": null }, { "object_name": "duck", "level1": "toy", "level2": "duck", "level3": null, "level4": null, "level5": null }, { "object_name": "soap", "level1": "daily_necessities", "level2": "soap", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "basket", "level1": "container", "level2": "basket", "level3": null, "level4": null, "level5": null }, { "object_name": "cola", "level1": "drink", "level2": "cola", "level3": null, "level4": null, "level5": null }, { "object_name": "detergent", "level1": "daily_necessities", "level2": "detergent", "level3": null, "level4": null, "level5": null }, { "object_name": "egg_beater", "level1": "electrical_appliances", "level2": "egg_beater", "level3": null, "level4": null, "level5": null }, { "object_name": "towel", "level1": "clothing", "level2": "towel", "level3": null, "level4": null, "level5": null }, { "object_name": "orange", "level1": "fruit", "level2": "orange", "level3": null, "level4": null, "level5": null }, { "object_name": "peach", "level1": "fruit", "level2": "peach", "level3": null, "level4": null, "level5": null }, { "object_name": "marker", "level1": "office_supplies", "level2": "marker", "level3": null, "level4": null, "level5": null }, { "object_name": "rubiks_cube", "level1": "toy", "level2": "rubiks_cube", "level3": null, "level4": null, "level5": null }, { "object_name": "bread_slice", "level1": "food", "level2": "bread_slice", "level3": null, "level4": null, "level5": null }, { "object_name": "brush", "level1": "daily_necessities", "level2": "brush", "level3": null, "level4": null, "level5": null }, { "object_name": "yogurt", "level1": "drink", "level2": "yogurt", "level3": null, "level4": null, "level5": null }, { "object_name": "power_strip", "level1": "electric_appliance", "level2": "power_strip", "level3": null, "level4": null, "level5": null }, { "object_name": "milk", "level1": "drink", "level2": "milk", "level3": null, "level4": null, "level5": null }, { "object_name": "soda", "level1": "drink", "level2": "soda", "level3": null, "level4": null, "level5": null }, { "object_name": "lime", "level1": "fruit", "level2": "lime", "level3": null, "level4": null, "level5": null }, { "object_name": "coffee_capsule", "level1": "drink", "level2": "coffee_capsule", "level3": null, "level4": null, "level5": null }, { "object_name": "dish", "level1": "container", "level2": "dish", "level3": null, "level4": null, "level5": null }, { "object_name": "glass", "level1": "furniture", "level2": "glass", "level3": null, "level4": null, "level5": null }, { "object_name": "egg_yolk_pastry", "level1": "food", "level2": "egg_yolk_pastry", "level3": null, "level4": null, "level5": null }, { "object_name": "glasses_case", "level1": "daily_necessities", "level2": "glasses_case", "level3": null, "level4": null, "level5": null }, { "object_name": "gum", "level1": "daily_necessities", "level2": "gum", "level3": null, "level4": null, "level5": null }, { "object_name": "tape", "level1": "daily_necessities", "level2": "tape", "level3": null, "level4": null, "level5": null }, { "object_name": "soft_cleanser", "level1": "daily_necessities", "level2": "soft_cleanser", "level3": null, "level4": null, "level5": null }, { "object_name": "chips", "level1": "food", "level2": "chips", "level3": null, "level4": null, "level5": null }, { "object_name": "chocolate", "level1": "food", "level2": "chocolate", "level3": null, "level4": null, "level5": null }, { "object_name": "cookie", "level1": "food", "level2": "cookie", "level3": null, "level4": null, "level5": null }, { "object_name": "spoon", "level1": "tableware", "level2": "spoon", "level3": null, "level4": null, "level5": null } ], "device_model": [ "galaxea_r1_lite" ], "end_effector_type": "two_finger_gripper", "operation_platform_height": 77.2 } }, "AgiBot-g1_box_storage_cardboard_box_c": { "dataset_name": "box_storage_cardboard_box_c", "dataset_uuid": "f5991bf3-3900-460c-adbd-56e87ac4bbc1", "scene_type": [ "home" ], "atomic_actions": [ "place", "pick", "grasp" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "carton", "level1": "container", "level2": "carton", "level3": null, "level4": null, "level5": null } ], "path": "AgiBot-g1_box_storage_cardboard_box_c", "video_url": "./assets/videos/AgiBot-g1_box_storage_cardboard_box_c.mp4", "thumbnail_url": "./assets/thumbnails/AgiBot-g1_box_storage_cardboard_box_c.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "109.0GB", "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": "AgiBot-g1", "codebase_version": "v2.1", "statistics": { "total_episodes": 476, "total_frames": 230771, "total_tasks": 1, "total_videos": 3808, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:475" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "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, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_back_left_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_back_right_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_center_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_left_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_right_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "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": [ 41 ], "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open", "robot_pos_x_m", "robot_pos_y_m", "robot_pos_z_m", "robot_quat_x", "robot_quat_y", "robot_quat_z", "robot_quat_w" ] }, "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", "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_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 }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "using a robotic arm to pick up a cardboard box and palace it the carton.", "sub_tasks": [ "Place the mouse and the power cord paper box into the container.", "Pick up the mouse and the power cord paper box.", "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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_back_left_fisheye_rgb", "name": "cam_back_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_back_right_fisheye_rgb", "name": "cam_back_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_center_fisheye_rgb", "name": "cam_high_center_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_left_fisheye_rgb", "name": "cam_high_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_right_fisheye_rgb", "name": "cam_high_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_back_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_back_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_center_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 41 ], "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open", "robot_pos_x_m", "robot_pos_y_m", "robot_pos_z_m", "robot_quat_x", "robot_quat_y", "robot_quat_z", "robot_quat_w" ] } }, "action_space": { "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", "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "AgiBot-g1_box_storage_cardboard_box_c_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_back_left_fisheye_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_back_right_fisheye_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_high_center_fisheye_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_high_left_fisheye_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_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_high_right_fisheye_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "box_storage_cardboard_box_c", "dataset_uuid": null, "task_descriptions": [ "using a robotic arm to pick up a cardboard box and place it into the carton." ], "scene_type": [ "home" ], "atomic_actions": [ "place", "pick", "grasp" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "carton", "level1": "container", "level2": "carton", "level3": null, "level4": null, "level5": null }, { ".0object_name": "carton", "level1": "container", "level2": "carton", "level3": null, "level4": null, "level5": null } ], "-operation_platform_height": null, "device_model": [ "tianqing_a2d" ], "end_effector_type": "two_finger_gripper" } }, "Cobot_Magic_movethe_position_of_the_bluetooth": { "dataset_name": "movethe_position_of_the_bluetooth", "dataset_uuid": "dc390f5c-b242-48d0-86f0-0932b22a8f6a", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "bluetooth_earbud", "level1": "electronic_products", "level2": "bluetooth_earbud", "level3": null, "level4": null, "level5": null }, { "object_name": "bluetooth_earphone_case", "level1": "electronic_products", "level2": "bluetooth_earphone_case", "level3": null, "level4": null, "level5": null } ], "path": "Cobot_Magic_movethe_position_of_the_bluetooth", "video_url": "./assets/videos/Cobot_Magic_movethe_position_of_the_bluetooth.mp4", "thumbnail_url": "./assets/thumbnails/Cobot_Magic_movethe_position_of_the_bluetooth.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "850.5MB", "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": "Cobot_Magic", "codebase_version": "v2.1", "statistics": { "total_episodes": 198, "total_frames": 52508, "total_tasks": 2, "total_videos": 594, "total_chunks": 1, "chunks_size": 1000, "fps": 50 }, "splits": { "train": "0:197" }, "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": 50, "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": 50, "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": 50, "video.channels": 3, "has_audio": false } }, "observation.state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "Grasp the bluetooth earphone case and place it on one side of the table.\nGrasp the bluetooth earbud and place it on the other side of the table.", "sub_tasks": [ "Place bluetooth earbud on the right side of the table", "Place bluetooth earphone case on the left side of the table", "Grasp the Bluetooth earphone case", "Grasp the Bluetooth earbud", "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": 50, "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": 50, "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": 50, "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" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Cobot_Magic_movethe_position_of_the_bluetooth_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "movethe_position_of_the_bluetooth", "dataset_uuid": null, "task_descriptions": [ "grasp the bluetooth earbud and place it on the right side of the table.", "grasp the bluetooth earphone case and place it on the left side of the table." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "bluetooth_earbud", "level1": "electronic_products", "level2": "bluetooth_earbud", "level3": null, "level4": null, "level5": null }, { "object_name": "bluetooth_earphone_case", "level1": "electronic_products", "level2": "bluetooth_earphone_case", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "agilex_cobot_decoupled_magic" ], "end_effector_type": "two_finger_gripper" } }, "R1_Lite_tableware_cleaning": { "dataset_name": "tableware_cleaning", "dataset_uuid": "1969fa83-52f1-4c9f-94c6-6f9802241318", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "bowl", "level1": "container", "level2": "bowl", "level3": null, "level4": null, "level5": null }, { "object_name": "chopsticks", "level1": "tableware", "level2": "chopsticks", "level3": null, "level4": null, "level5": null }, { "object_name": "spoon", "level1": "tableware", "level2": "spoon", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "dishwashing_liquid", "level1": "cleaning_supplies", "level2": "dishwashing_liquid", "level3": null, "level4": null, "level5": null }, { "object_name": "sponge", "level1": "cleaning_supplies", "level2": "sponge", "level3": null, "level4": null, "level5": null } ], "path": "R1_Lite_tableware_cleaning", "video_url": "./assets/videos/R1_Lite_tableware_cleaning.mp4", "thumbnail_url": "./assets/thumbnails/R1_Lite_tableware_cleaning.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "17.6GB", "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": "R1_Lite", "codebase_version": "v2.1", "statistics": { "total_episodes": 102, "total_frames": 327254, "total_tasks": 1, "total_videos": 306, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:101" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "wipe the tableware with a sponge containing detergent then put them in their original places.", "sub_tasks": [ "End", "Rinse the chopsticks", "Place the dish soap on the table", "Wipe the plate", "Rinse the plate", "Place the chopsticks on the glass basin", "Pick up a bowl and the sponge", "Rinse the bowl", "Wash the plate", "Place the plate on the plate", "Place the plate on the table", "Place the spoon in the glass basin", "Place the bowl on the table", "Wipe the bowl", "Squeeze it onto the sponge", "Abnormal", "Rinse the spoon", "Place the bowl on the plate", "Put down the sponge", "Place the bowl on the bowl", "Turn off the faucet", "Grab the dish soap", "Wash the bowl", "Turn on the faucet", "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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "R1_Lite_tableware_cleaning_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "tableware_cleaning", "dataset_uuid": null, "task_descriptions": [ "wipe the tableware with a sponge containing detergent then put them in their original places." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "bowl", "level1": "container", "level2": "bowl", "level3": null, "level4": null, "level5": null }, { "object_name": "chopsticks", "level1": "tableware", "level2": "chopsticks", "level3": null, "level4": null, "level5": null }, { "object_name": "spoon", "level1": "tableware", "level2": "spoon", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "dishwashing_liquid", "level1": "cleaning_supplies", "level2": "dishwashing_liquid", "level3": null, "level4": null, "level5": null }, { "object_name": "sponge", "level1": "cleaning_supplies", "level2": "sponge", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "galaxea_r1_lite" ], "end_effector_type": "two_finger_gripper" } }, "AIRBOT_MMK2_boxs_storage": { "dataset_name": "boxs_storage", "dataset_uuid": "fda26243-c5f4-4e3a-8a7e-84a7d7c71f3a", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "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": "calculator_box", "level1": "container", "level2": "calculator_box", "level3": null, "level4": null, "level5": null }, { "object_name": "power_bank_box", "level1": "container", "level2": "power_bank_box", "level3": null, "level4": null, "level5": null }, { "object_name": "bucket", "level1": "container", "level2": "bucket", "level3": null, "level4": null, "level5": null }, { "object_name": "pomegranate", "level1": "fruit", "level2": "pomegranate", "level3": null, "level4": null, "level5": null }, { "object_name": "mango", "level1": "fruit", "level2": "mango", "level3": null, "level4": null, "level5": null }, { "object_name": "potato", "level1": "vegetable", "level2": "potato", "level3": null, "level4": null, "level5": null }, { "object_name": "pumpkin", "level1": "vegetable", "level2": "pumpkin", "level3": null, "level4": null, "level5": null }, { "object_name": "compartment", "level1": "container", "level2": "compartment", "level3": null, "level4": null, "level5": null } ], "path": "AIRBOT_MMK2_boxs_storage", "video_url": "./assets/videos/AIRBOT_MMK2_boxs_storage.mp4", "thumbnail_url": "./assets/thumbnails/AIRBOT_MMK2_boxs_storage.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "1.2GB", "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": 138, "total_frames": 40906, "total_tasks": 3, "total_videos": 552, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:137" }, "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": "Throw the pomegranate into one square and the mango into the other square.\nThrow the potato into one square and the pumpkin into the other square.\nPut the calculator box and the power bank box in the yellow bucket.", "sub_tasks": [ "Grasp the potato with the left gripper", "Place the phone case box in the yellow box with the right gripper", "Place the pumpkin into the right compartment of the storage box with the right gripper", "Place the calculator box in the yellow box with the left gripper", "Static", "Grasp the calculator box with the left gripper", "End", "Grasp the mango with the right gripper", "Grasp the pomegranate with the left gripper", "Place the pomegranate into the left compartment of the storage box with the left gripper", "Place the mango into the right compartment of the storage box with the right gripper", "Grasp the phone case box with the right gripper", "Place the potato into the left compartment of the storage box with the left gripper", "Grasp the pumpkin with the right 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_boxs_storage_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "boxs_storage", "dataset_uuid": null, "task_descriptions": [ "put the calculator box in the yellow bucket with your left hand and the power bank box in the yellow bucket with your right hand.", "throw the pomegranate into the left square with your left hand and the mango into the right square with your right hand.", "throw the potato into the left square with your left hand and the pumpkin into the right square with your right hand." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "calculator_box", "level1": "container", "level2": "calculator_box", "level3": null, "level4": null, "level5": null }, { "object_name": "power_bank_box", "level1": "container", "level2": "power_bank_box", "level3": null, "level4": null, "level5": null }, { "object_name": "bucket", "level1": "container", "level2": "bucket", "level3": null, "level4": null, "level5": null }, { "object_name": "pomegranate", "level1": "fruit", "level2": "pomegranate", "level3": null, "level4": null, "level5": null }, { "object_name": "mango", "level1": "fruit", "level2": "mango", "level3": null, "level4": null, "level5": null }, { "object_name": "potato", "level1": "vegetable", "level2": "potato", "level3": null, "level4": null, "level5": null }, { "object_name": "pumpkin", "level1": "vegetable", "level2": "pumpkin", "level3": null, "level4": null, "level5": null }, { "object_name": "compartment", "level1": "container", "level2": "compartment", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "airbot mmk2" ], "end_effector_type": "five_finger_hand" } }, "AIRBOT_MMK2_place_the_blue_and_purple_blocks": { "dataset_name": "place_the_blue_and_purple_blocks", "dataset_uuid": "515b60a8-59ef-485b-bd22-34f963fd853c", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "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": "square", "level1": "toy", "level2": "square", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null } ], "path": "AIRBOT_MMK2_place_the_blue_and_purple_blocks", "video_url": "./assets/videos/AIRBOT_MMK2_place_the_blue_and_purple_blocks.mp4", "thumbnail_url": "./assets/thumbnails/AIRBOT_MMK2_place_the_blue_and_purple_blocks.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "502.1MB", "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": 50, "total_frames": 10277, "total_tasks": 1, "total_videos": 200, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:49" }, "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": "Pick up the purple cube and place it on the plate, then pick up the blue cube from the table and place it on top of the purple cube.", "sub_tasks": [ "Grasp the purple cube block with the left gripper", "Grasp the blue cube block with the right gripper", "Place the purple cube block on the plate with the left gripper", "Static", "Place the blue cube block on the purple cube block with the right gripper", "End", "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_place_the_blue_and_purple_blocks_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "place_the_blue_and_purple_blocks", "dataset_uuid": null, "task_descriptions": [ "pick up the purple cube with your left hand and place it on the plate. use your right hand to pick up the blue cube on the table and place it on top of the purple cube." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "square", "level1": "toy", "level2": "square", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "airbot mmk2" ], "end_effector_type": "five_finger_hand" } }, "R1_Lite_move_the_position_of_the_triangle_bread": { "dataset_name": "move_the_position_of_the_triangle_bread", "dataset_uuid": "f60ef2d6-fc04-4276-b75e-e8b54ab7602c", "scene_type": [ "home" ], "atomic_actions": [ "place", "pick", "grasp" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "waffle", "level1": "food", "level2": "waffle", "level3": null, "level4": null, "level5": null }, { "object_name": "pen", "level1": "office_supplies", "level2": "pen", "level3": null, "level4": null, "level5": null }, { "object_name": "banana", "level1": "fruit", "level2": "banana", "level3": null, "level4": null, "level5": null }, { "object_name": "bath_ball", "level1": "daily_necessities", "level2": "bath_ball", "level3": null, "level4": null, "level5": null }, { "object_name": "bowl", "level1": "container", "level2": "bowl", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "can", "level1": "container", "level2": "can", "level3": null, "level4": null, "level5": null }, { "object_name": "eraser", "level1": "office_supplies", "level2": "eraser", "level3": null, "level4": null, "level5": null }, { "object_name": "hard_cleanser", "level1": "daily_necessities", "level2": "hard_cleanser", "level3": null, "level4": null, "level5": null }, { "object_name": "long_bread", "level1": "food", "level2": "long_bread", "level3": null, "level4": null, "level5": null }, { "object_name": "peeler", "level1": "tool", "level2": "peeler", "level3": null, "level4": null, "level5": null }, { "object_name": "block", "level1": "toy", "level2": "block", "level3": null, "level4": null, "level5": null }, { "object_name": "duck", "level1": "toy", "level2": "duck", "level3": null, "level4": null, "level5": null }, { "object_name": "soap", "level1": "daily_necessities", "level2": "soap", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "basket", "level1": "container", "level2": "basket", "level3": null, "level4": null, "level5": null }, { "object_name": "cola", "level1": "drink", "level2": "cola", "level3": null, "level4": null, "level5": null }, { "object_name": "detergent", "level1": "daily_necessities", "level2": "detergent", "level3": null, "level4": null, "level5": null }, { "object_name": "egg_beater", "level1": "electrical_appliances", "level2": "egg_beater", "level3": null, "level4": null, "level5": null }, { "object_name": "towel", "level1": "clothing", "level2": "towel", "level3": null, "level4": null, "level5": null }, { "object_name": "orange", "level1": "fruit", "level2": "orange", "level3": null, "level4": null, "level5": null }, { "object_name": "peach", "level1": "fruit", "level2": "peach", "level3": null, "level4": null, "level5": null }, { "object_name": "marker", "level1": "office_supplies", "level2": "marker", "level3": null, "level4": null, "level5": null }, { "object_name": "rubiks_cube", "level1": "toy", "level2": "rubiks_cube", "level3": null, "level4": null, "level5": null }, { "object_name": "bread_slice", "level1": "food", "level2": "bread_slice", "level3": null, "level4": null, "level5": null }, { "object_name": "brush", "level1": "daily_necessities", "level2": "brush", "level3": null, "level4": null, "level5": null }, { "object_name": "yogurt", "level1": "drink", "level2": "yogurt", "level3": null, "level4": null, "level5": null }, { "object_name": "power_strip", "level1": "electric_appliance", "level2": "power_strip", "level3": null, "level4": null, "level5": null }, { "object_name": "milk", "level1": "drink", "level2": "milk", "level3": null, "level4": null, "level5": null }, { "object_name": "soda", "level1": "drink", "level2": "soda", "level3": null, "level4": null, "level5": null }, { "object_name": "lime", "level1": "fruit", "level2": "lime", "level3": null, "level4": null, "level5": null }, { "object_name": "coffee_capsule", "level1": "drink", "level2": "coffee_capsule", "level3": null, "level4": null, "level5": null }, { "object_name": "dish", "level1": "container", "level2": "dish", "level3": null, "level4": null, "level5": null }, { "object_name": "glass", "level1": "furniture", "level2": "glass", "level3": null, "level4": null, "level5": null }, { "object_name": "egg_yolk_pastry", "level1": "food", "level2": "egg_yolk_pastry", "level3": null, "level4": null, "level5": null }, { "object_name": "glasses_case", "level1": "daily_necessities", "level2": "glasses_case", "level3": null, "level4": null, "level5": null }, { "object_name": "gum", "level1": "daily_necessities", "level2": "gum", "level3": null, "level4": null, "level5": null }, { "object_name": "tape", "level1": "daily_necessities", "level2": "tape", "level3": null, "level4": null, "level5": null }, { "object_name": "soft_cleanser", "level1": "daily_necessities", "level2": "soft_cleanser", "level3": null, "level4": null, "level5": null }, { "object_name": "chips", "level1": "food", "level2": "chips", "level3": null, "level4": null, "level5": null }, { "object_name": "chocolate", "level1": "food", "level2": "chocolate", "level3": null, "level4": null, "level5": null }, { "object_name": "cookie", "level1": "food", "level2": "cookie", "level3": null, "level4": null, "level5": null }, { "object_name": "spoon", "level1": "tableware", "level2": "spoon", "level3": null, "level4": null, "level5": null }, { "object_name": "triangle_bread", "level1": "food", "level2": "triangle_bread", "level3": null, "level4": null, "level5": null } ], "path": "R1_Lite_move_the_position_of_the_triangle_bread", "video_url": "./assets/videos/R1_Lite_move_the_position_of_the_triangle_bread.mp4", "thumbnail_url": "./assets/thumbnails/R1_Lite_move_the_position_of_the_triangle_bread.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "1K-10K", "dataset_size": "300.1MB", "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": "R1_Lite", "codebase_version": "v2.1", "statistics": { "total_episodes": 40, "total_frames": 8540, "total_tasks": 1, "total_videos": 160, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:39" }, "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_left_rgb": { "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_right_rgb": { "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 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" ] }, "action": { "dtype": "float32", "shape": [ 18 ], "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 }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "put the triangle bread the designated position.", "sub_tasks": [ "Grasp the pizza with right gripper", "Static", "Place the pizza on the table with right gripper", "End", "Grasp the pizza with left gripper", "Place the pizza on the table with 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_left_rgb", "name": "cam_high_left_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_right_rgb", "name": "cam_high_right_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_left_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_right_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "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" ] } }, "action_space": { "dtype": "float32", "shape": [ 18 ], "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "R1_Lite_move_the_position_of_the_triangle_bread_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_left_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_high_right_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "move_the_position_of_the_waffle", "dataset_uuid": null, "task_descriptions": [ "put the waffle the designated position." ], "scene_type": [ "home" ], "atomic_actions": [ "place", "pick", "grasp" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "waffle", "level1": "food", "level2": "waffle", "level3": null, "level4": null, "level5": null }, { "object_name": "pen", "level1": "office_supplies", "level2": "pen", "level3": null, "level4": null, "level5": null }, { "object_name": "banana", "level1": "fruit", "level2": "banana", "level3": null, "level4": null, "level5": null }, { "object_name": "bath_ball", "level1": "daily_necessities", "level2": "bath_ball", "level3": null, "level4": null, "level5": null }, { "object_name": "bowl", "level1": "container", "level2": "bowl", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "can", "level1": "container", "level2": "can", "level3": null, "level4": null, "level5": null }, { "object_name": "eraser", "level1": "office_supplies", "level2": "eraser", "level3": null, "level4": null, "level5": null }, { "object_name": "hard_cleanser", "level1": "daily_necessities", "level2": "hard_cleanser", "level3": null, "level4": null, "level5": null }, { "object_name": "long_bread", "level1": "food", "level2": "long_bread", "level3": null, "level4": null, "level5": null }, { "object_name": "peeler", "level1": "tool", "level2": "peeler", "level3": null, "level4": null, "level5": null }, { "object_name": "block", "level1": "toy", "level2": "block", "level3": null, "level4": null, "level5": null }, { "object_name": "duck", "level1": "toy", "level2": "duck", "level3": null, "level4": null, "level5": null }, { "object_name": "soap", "level1": "daily_necessities", "level2": "soap", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "basket", "level1": "container", "level2": "basket", "level3": null, "level4": null, "level5": null }, { "object_name": "cola", "level1": "drink", "level2": "cola", "level3": null, "level4": null, "level5": null }, { "object_name": "detergent", "level1": "daily_necessities", "level2": "detergent", "level3": null, "level4": null, "level5": null }, { "object_name": "egg_beater", "level1": "electrical_appliances", "level2": "egg_beater", "level3": null, "level4": null, "level5": null }, { "object_name": "towel", "level1": "clothing", "level2": "towel", "level3": null, "level4": null, "level5": null }, { "object_name": "orange", "level1": "fruit", "level2": "orange", "level3": null, "level4": null, "level5": null }, { "object_name": "peach", "level1": "fruit", "level2": "peach", "level3": null, "level4": null, "level5": null }, { "object_name": "marker", "level1": "office_supplies", "level2": "marker", "level3": null, "level4": null, "level5": null }, { "object_name": "rubiks_cube", "level1": "toy", "level2": "rubiks_cube", "level3": null, "level4": null, "level5": null }, { "object_name": "bread_slice", "level1": "food", "level2": "bread_slice", "level3": null, "level4": null, "level5": null }, { "object_name": "brush", "level1": "daily_necessities", "level2": "brush", "level3": null, "level4": null, "level5": null }, { "object_name": "yogurt", "level1": "drink", "level2": "yogurt", "level3": null, "level4": null, "level5": null }, { "object_name": "power_strip", "level1": "electric_appliance", "level2": "power_strip", "level3": null, "level4": null, "level5": null }, { "object_name": "milk", "level1": "drink", "level2": "milk", "level3": null, "level4": null, "level5": null }, { "object_name": "soda", "level1": "drink", "level2": "soda", "level3": null, "level4": null, "level5": null }, { "object_name": "lime", "level1": "fruit", "level2": "lime", "level3": null, "level4": null, "level5": null }, { "object_name": "coffee_capsule", "level1": "drink", "level2": "coffee_capsule", "level3": null, "level4": null, "level5": null }, { "object_name": "dish", "level1": "container", "level2": "dish", "level3": null, "level4": null, "level5": null }, { "object_name": "glass", "level1": "furniture", "level2": "glass", "level3": null, "level4": null, "level5": null }, { "object_name": "egg_yolk_pastry", "level1": "food", "level2": "egg_yolk_pastry", "level3": null, "level4": null, "level5": null }, { "object_name": "glasses_case", "level1": "daily_necessities", "level2": "glasses_case", "level3": null, "level4": null, "level5": null }, { "object_name": "gum", "level1": "daily_necessities", "level2": "gum", "level3": null, "level4": null, "level5": null }, { "object_name": "tape", "level1": "daily_necessities", "level2": "tape", "level3": null, "level4": null, "level5": null }, { "object_name": "soft_cleanser", "level1": "daily_necessities", "level2": "soft_cleanser", "level3": null, "level4": null, "level5": null }, { "object_name": "chips", "level1": "food", "level2": "chips", "level3": null, "level4": null, "level5": null }, { "object_name": "chocolate", "level1": "food", "level2": "chocolate", "level3": null, "level4": null, "level5": null }, { "object_name": "cookie", "level1": "food", "level2": "cookie", "level3": null, "level4": null, "level5": null }, { "object_name": "spoon", "level1": "tableware", "level2": "spoon", "level3": null, "level4": null, "level5": null }, { "object_name": "triangle_bread", "level1": "food", "level2": "triangle_bread", "level3": null, "level4": null, "level5": null } ], "device_model": [ "galaxea_r1_lite" ], "end_effector_type": "two_finger_gripper", "operation_platform_height": 77.2 } }, "R1_Lite_plug_the_socket": { "dataset_name": "plug_the_socket", "dataset_uuid": "a456ff6a-8652-485b-a545-1bbcee60a201", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "mosquito_repellent_liquid", "level1": "daily_necessities", "level2": "mosquito_repellent_liquid", "level3": null, "level4": null, "level5": null }, { "object_name": "plug", "level1": "electric_appliance", "level2": "plug", "level3": null, "level4": null, "level5": null }, { "object_name": "socket", "level1": "electric_appliance", "level2": "socket", "level3": null, "level4": null, "level5": null } ], "path": "R1_Lite_plug_the_socket", "video_url": "./assets/videos/R1_Lite_plug_the_socket.mp4", "thumbnail_url": "./assets/thumbnails/R1_Lite_plug_the_socket.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "5.1GB", "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": "R1_Lite", "codebase_version": "v2.1", "statistics": { "total_episodes": 96, "total_frames": 115158, "total_tasks": 1, "total_videos": 288, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:95" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "plug in mosquito repellent then unplug and place on table.", "sub_tasks": [ "Hold the socket with your right hand and unplug it with your left hand", "abnormal", "Pick up the mosquito repellent liquid", "Place the mosquito repellent liquid on the table", "Insert the plug into the socket", "Hold the socket with your left hand and unplug it with your right hand", "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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "R1_Lite_plug_the_socket_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "Plug in and unplug the socket", "dataset_uuid": null, "task_descriptions": [ "plug in mosquito repellent then unplug and place on table." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "mosquito_repellent_liquid", "level1": "daily_necessities", "level2": "mosquito_repellent_liquid", "level3": null, "level4": null, "level5": null }, { "object_name": "plug", "level1": "electric_appliance", "level2": "plug", "level3": null, "level4": null, "level5": null }, { "object_name": "socket", "level1": "electric_appliance", "level2": "socket", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "galaxea_r1_lite" ], "end_effector_type": "two_finger_gripper" } }, "AIRBOT_MMK2_pour_out_the_beauty_blender": { "dataset_name": "pour_out_the_beauty_blender", "dataset_uuid": "9bd6999e-de56-4b21-b103-e3054f98d4ef", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "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": "marble", "level1": "toy", "level2": "marble", "level3": null, "level4": null, "level5": null }, { "object_name": "cup", "level1": "container", "level2": "cup", "level3": null, "level4": null, "level5": null }, { "object_name": "bowl", "level1": "container", "level2": "bowl", "level3": null, "level4": null, "level5": null } ], "path": "AIRBOT_MMK2_pour_out_the_beauty_blender", "video_url": "./assets/videos/AIRBOT_MMK2_pour_out_the_beauty_blender.mp4", "thumbnail_url": "./assets/thumbnails/AIRBOT_MMK2_pour_out_the_beauty_blender.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "652.5MB", "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": 47, "total_frames": 17577, "total_tasks": 1, "total_videos": 188, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:46" }, "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": "Pick up the cup and pour the beauty blender inside into the bowl.", "sub_tasks": [ "Place the paper cup on the table with right gripper", "Pour the bullets from the paper cup into the bowl with right gripper", "Static", "Grasp the paper cup containing bullets with right gripper", "End", "Abnormal", "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_pour_out_the_beauty_blender_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "pour_out_the_marble", "dataset_uuid": null, "task_descriptions": [ "pick up the cup with your right hand and pour the marble inside into the bowl." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "marble", "level1": "toy", "level2": "marble", "level3": null, "level4": null, "level5": null }, { "object_name": "cup", "level1": "container", "level2": "cup", "level3": null, "level4": null, "level5": null }, { "object_name": "bowl", "level1": "container", "level2": "bowl", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "airbot mmk2" ], "end_effector_type": "five_finger_hand" } }, "Cobot_Magic_cut_banana": { "dataset_name": "cut_banana", "dataset_uuid": "3637d17f-4a5a-4801-902f-3e5aee09f48b", "scene_type": [ "home", "restaurant" ], "atomic_actions": [ "grasp", "pick", "cut", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "banana", "level1": "fruit", "level2": "banana", "level3": null, "level4": null, "level5": null }, { "object_name": "plastic_vegetable_board", "level1": "tool", "level2": "plastic_vegetable_board", "level3": null, "level4": null, "level5": null }, { "object_name": "knife_holder", "level1": "furniture", "level2": "knife_holder", "level3": null, "level4": null, "level5": null }, { "object_name": "knife", "level1": "tool", "level2": "knife", "level3": null, "level4": null, "level5": null }, { "object_name": "fake_banana", "level1": "toy", "level2": "fake_banana", "level3": null, "level4": null, "level5": null } ], "path": "Cobot_Magic_cut_banana", "video_url": "./assets/videos/Cobot_Magic_cut_banana.mp4", "thumbnail_url": "./assets/thumbnails/Cobot_Magic_cut_banana.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "4.2GB", "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": "Cobot_Magic", "codebase_version": "v2.1", "statistics": { "total_episodes": 583, "total_frames": 310367, "total_tasks": 2, "total_videos": 1749, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:582" }, "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.state": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "action": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "timestamp": { "dtype": "float32", "shape": [ 1 ], "names": null }, "frame_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "episode_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "task_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "subtask_annotation": { "names": null, "dtype": "int32", "shape": [ 5 ] }, "scene_annotation": { "names": null, "dtype": "int32", "shape": [ 1 ] }, "eef_sim_pose_state": { "names": [ "left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_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 ] }, "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 ] }, "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 ] } }, "tasks": "cut banana.\ncut plastic banana.", "sub_tasks": [ "Cut the banana with your left hand.", "Cut the banana with your right hand.", "Hold the blade with your left hand.", "Discard the waste.", "Secure the blade with your left hand.", "Place the knife on the storage rack with your right hand.", "Grab the knife handle with your right hand.", "end", "Lift the knife with your right hand.", "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 } ], "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" ] } ], "state": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] } }, "action_space": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Cobot_Magic_cut_banana_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "cut_banana", "dataset_uuid": null, "task_descriptions": [ "cut banana.", "cut plastic banana." ], "scene_type": [ "home", "restaurant" ], "atomic_actions": [ "grasp", "pick", "cut", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "banana", "level1": "fruit", "level2": "banana", "level3": null, "level4": null, "level5": null }, { "object_name": "plastic_vegetable_board", "level1": "tool", "level2": "plastic_vegetable_board", "level3": null, "level4": null, "level5": null }, { "object_name": "knife_holder", "level1": "furniture", "level2": "knife_holder", "level3": null, "level4": null, "level5": null }, { "object_name": "knife", "level1": "tool", "level2": "knife", "level3": null, "level4": null, "level5": null }, { "object_name": "fake_banana", "level1": "toy", "level2": "fake_banana", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "agilex_cobot_magic_aloha" ], "end_effector_type": "two_finger_gripper" } }, "AIRBOT_MMK2_item_storage": { "dataset_name": "item_storage", "dataset_uuid": "cfed792e-cf1c-4d1f-b6fc-a022e9be4d5e", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "five_finger_hand" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "able", "level3": null, "level4": null, "level5": null }, { "object_name": "barrel", "level1": "container", "level2": "barrel", "level3": null, "level4": null, "level5": null }, { "object_name": "umbrella", "level1": "daily_necessities", "level2": "umbrella", "level3": null, "level4": null, "level5": null }, { "object_name": "bottle", "level1": "container", "level2": "bottle", "level3": null, "level4": null, "level5": null }, { "object_name": "lid", "level1": "daily_necessities", "level2": "lid", "level3": null, "level4": null, "level5": null }, { "object_name": "bowl", "level1": "container", "level2": "bowl", "level3": null, "level4": null, "level5": null } ], "path": "AIRBOT_MMK2_item_storage", "video_url": "./assets/videos/AIRBOT_MMK2_item_storage.mp4", "thumbnail_url": "./assets/thumbnails/AIRBOT_MMK2_item_storage.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "717.3MB", "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": 72, "total_frames": 18773, "total_tasks": 2, "total_videos": 288, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:71" }, "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": "Place the umbrella on the white lid with one hand, and then put the blue bottle on the white lid with the other hand.\nPick up the large and small bowls simultaneously with both hands and put them into the yellow bucket at the same time.", "sub_tasks": [ "Grasp the umbrella with the left gripper", "End", "Grasp the bowl with the right gripper", "Grasp the bowl with the left gripper", "Place the cup into the white basket with the right gripper", "Static", "Place the umbrella into the white basket with the left gripper", "Place the bowl into the yellow basket with the left gripper", "Place the bowl into the yellow basket with the right gripper", "Grasp the cup with the right 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_item_storage_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "item_storage", "dataset_uuid": null, "task_descriptions": [ "pick up the large and small bowls simultaneously with both your left and right hands and put them into the yellow bucket at the same time.", "place the umbrella on the white lid with your left hand, and then put the blue bottle on the white lid with your right hand." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "able", "level3": null, "level4": null, "level5": null }, { "object_name": "barrel", "level1": "container", "level2": "barrel", "level3": null, "level4": null, "level5": null }, { "object_name": "umbrella", "level1": "daily_necessities", "level2": "umbrella", "level4": null, "level5": null }, { "object_name": "bottle", "level1": "container", "level2": "bottle", "level4": null, "level5": null }, { "object_name": "lid", "level1": "daily_necessities", "level2": "lid", "level4": null, "level5": null }, { "object_name": "bowl", "level1": "container", "level2": "bowl", "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "airbot mmk2" ], "end_effector_type": "five_finger_hand" } }, "R1_Lite_opening_and_closing_aalcony_sliding_doors": { "dataset_name": "opening_and_closing_aalcony_sliding_doors", "dataset_uuid": "4d71497e-4f98-487e-8f46-e2a076016680", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "push", "pull" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "sliding_door", "level1": "furniture", "level2": "sliding_door", "level3": null, "level4": null, "level5": null } ], "path": "R1_Lite_opening_and_closing_aalcony_sliding_doors", "video_url": "./assets/videos/R1_Lite_opening_and_closing_aalcony_sliding_doors.mp4", "thumbnail_url": "./assets/thumbnails/R1_Lite_opening_and_closing_aalcony_sliding_doors.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "6.9GB", "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": "R1_Lite", "codebase_version": "v2.1", "statistics": { "total_episodes": 101, "total_frames": 133637, "total_tasks": 1, "total_videos": 303, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:100" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "close balcony sliding door then open it.", "sub_tasks": [ "Close the slid door", "Open the slid door", "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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "R1_Lite_opening_and_closing_aalcony_sliding_doors_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "opening_and_closing_sliding_doors", "dataset_uuid": null, "task_descriptions": [ "close balcony sliding door then open it." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "push", "pull" ], "objects": [ { "object_name": "sliding_door", "level1": "furniture", "level2": "sliding_door", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "galaxea_r1_lite" ], "end_effector_type": "two_finger_gripper" } }, "Cobot_Magic_plate_storage_apple": { "dataset_name": "plate_storage_apple", "dataset_uuid": "4c90a2cc-aea8-4468-a7c2-b0afeae50a98", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "apple", "level1": "fruit", "level2": "apple", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null } ], "path": "Cobot_Magic_plate_storage_apple", "video_url": "./assets/videos/Cobot_Magic_plate_storage_apple.mp4", "thumbnail_url": "./assets/thumbnails/Cobot_Magic_plate_storage_apple.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "605.5MB", "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": "Cobot_Magic", "codebase_version": "v2.1", "statistics": { "total_episodes": 103, "total_frames": 30676, "total_tasks": 1, "total_videos": 309, "total_chunks": 1, "chunks_size": 1000, "fps": 50 }, "splits": { "train": "0:102" }, "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": 50, "video.channels": 3, "has_audio": false } }, "observation.images.cam_left_wrist_rgb_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": 50, "video.channels": 3, "has_audio": false } }, "observation.images.cam_right_wrist_rgb_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": 50, "video.channels": 3, "has_audio": false } }, "observation.state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "grasp the apple and place it into the yellow plate.", "sub_tasks": [ "Grasp the fruit that can keep the doctor away", "Place the picked object into the yellow plate", "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": 50, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb_rgb", "name": "cam_left_wrist_rgb_rgb", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 50, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb_rgb", "name": "cam_right_wrist_rgb_rgb", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 50, "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_rgb", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb_rgb", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Cobot_Magic_plate_storage_apple_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_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_rgb/\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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "plate_storage_apple", "dataset_uuid": null, "task_descriptions": [ "grasp the apple and place it into the yellow plate." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "apple", "level1": "fruit", "level2": "apple", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "agilex_cobot_decoupled_magic" ], "end_effector_type": "two_finger_gripper" } }, "Split_aloha_basket_storage_bread": { "dataset_name": "basket_storage_bread", "dataset_uuid": "c86fb8b5-8845-4798-9c83-f3a7aec176f7", "scene_type": [ "home", "kitchen" ], "atomic_actions": [ "grasp", "place", "pick" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "long_bread", "level1": "food", "level2": "long_bread", "level3": null, "level4": null, "level5": null }, { "object_name": "basket", "level1": "container", "level2": "basket", "level3": null, "level4": null, "level5": null } ], "path": "Split_aloha_basket_storage_bread", "video_url": "./assets/videos/Split_aloha_basket_storage_bread.mp4", "thumbnail_url": "./assets/thumbnails/Split_aloha_basket_storage_bread.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "4.3GB", "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": "Split_aloha", "codebase_version": "v2.1", "statistics": { "total_episodes": 497, "total_frames": 211779, "total_tasks": 4, "total_videos": 1491, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:496" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_left_wrist_rgb": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_right_wrist_rgb": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.state": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "action": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "timestamp": { "dtype": "float32", "shape": [ 1 ], "names": null }, "frame_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "episode_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "task_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "subtask_annotation": { "names": null, "dtype": "int32", "shape": [ 5 ] }, "scene_annotation": { "names": null, "dtype": "int32", "shape": [ 1 ] }, "eef_sim_pose_state": { "names": [ "left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_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 ] }, "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 ] }, "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 ] } }, "tasks": "One hand grasps the yellow basket and places it in the middle of the table, while the other hand picks up the long bread and puts it into the yellow basket.\nOne hand grasps the black basket and places it in the middle of the table, while the other hand picks up the long bread and puts it into the black basket.\nOne hand grasps the black basket and places it in the middle of the table, while the other hand picks up the long bread and puts it into the black basket.\nOne hand grasps the yellow basket and places it in the middle of the table, while the other hand picks up the long bread and puts it into the yellow basket.", "sub_tasks": [ "abnormal", "Pick up the bread", "Move the basket to the center of view", "place the bread into the basket", "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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "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 } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 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" ] } ], "state": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] } }, "action_space": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Split_aloha_basket_storage_bread_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "basket_storage_bread", "dataset_uuid": null, "task_descriptions": [ "the left hand grasp the black basket and placed it in the middle of the table, the right hand pick up the long bread and put it into the black basket.", "the right hand grasp the black basket and placed it in the middle of the table, the left hand pick up the long bread and put it into the black basket.", "the left hand grasp the yellow basket and placed it in the middle of the table, the right hand pick up the long bread and put it into the yellow basket.", "the right hand grasp the yellow basket and placed it in the middle of the table, the left hand pick up the long bread and put it into the yellow basket." ], "scene_type": [ "home", "kitchen" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "long_bread", "level1": "food", "level2": "long_bread", "level3": null, "level4": null, "level5": null }, { "object_name": "basket", "level1": "container", "level2": "basket", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "agilex_cobot_decoupled_magic" ], "end_effector_type": "two_finger_gripper" } }, "AgiBot-g1_storage_item_e": { "dataset_name": "storage_item_e", "dataset_uuid": "6d8ca1f6-f9cf-4b0c-bef5-fca799793086", "scene_type": [ "factory" ], "atomic_actions": [ "grasp", "place", "pick" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "data_cable", "level1": "tool", "level2": "data_cable", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "mouse", "level1": "tool", "level2": "mouse", "level3": null, "level4": null, "level5": null } ], "path": "AgiBot-g1_storage_item_e", "video_url": "./assets/videos/AgiBot-g1_storage_item_e.mp4", "thumbnail_url": "./assets/thumbnails/AgiBot-g1_storage_item_e.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "92.8GB", "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": "AgiBot-g1", "codebase_version": "v2.1", "statistics": { "total_episodes": 507, "total_frames": 212067, "total_tasks": 1, "total_videos": 4056, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:506" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "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, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_back_left_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_back_right_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_center_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_left_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_right_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "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": [ 41 ], "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open", "robot_pos_x_m", "robot_pos_y_m", "robot_pos_z_m", "robot_quat_x", "robot_quat_y", "robot_quat_z", "robot_quat_w" ] }, "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", "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_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 }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "put the tools in the box.", "sub_tasks": [ "Grab and lift both the mouse and power cord from the accessory packaging area at the same time", "Place the mouse and power cord into the box", "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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_back_left_fisheye_rgb", "name": "cam_back_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_back_right_fisheye_rgb", "name": "cam_back_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_center_fisheye_rgb", "name": "cam_high_center_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_left_fisheye_rgb", "name": "cam_high_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_right_fisheye_rgb", "name": "cam_high_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_back_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_back_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_center_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 41 ], "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open", "robot_pos_x_m", "robot_pos_y_m", "robot_pos_z_m", "robot_quat_x", "robot_quat_y", "robot_quat_z", "robot_quat_w" ] } }, "action_space": { "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", "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "AgiBot-g1_storage_item_e_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_back_left_fisheye_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_back_right_fisheye_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_high_center_fisheye_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_high_left_fisheye_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_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_high_right_fisheye_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "storage_item_e", "dataset_uuid": null, "task_descriptions": [ "put the data cable and mouse into the box." ], "scene_type": [ "factory" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "data_cable", "level1": "tool", "level2": "data_cable", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null }, { "object_name": "mouse", "level1": "tool", "level2": "mouse", "level3": null, "level4": null } ], "-operation_platform_height": null, "device_model": [ "tianqing_a2d" ], "end_effector_type": "two_finger_gripper" } }, "Galbot_g1_steamer_storage_baozi_c": { "dataset_name": "steamer_storage_baozi_c", "dataset_uuid": "9e52b78e-5521-46bc-a8f7-c30253014025", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "end_effector_type": "two_finger_gripper", "operation_platform_height": 0.0, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "baozi", "level1": "food", "level2": "baozi", "level3": null, "level4": null, "level5": null }, { "object_name": "steamer", "level1": "container", "level2": "steamer", "level3": null, "level4": null, "level5": null }, { "object_name": "pot_lid", "level1": "daily_necessities", "level2": "pot_lid", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null } ], "path": "Galbot_g1_steamer_storage_baozi_c", "video_url": "./assets/videos/Galbot_g1_steamer_storage_baozi_c.mp4", "thumbnail_url": "./assets/thumbnails/Galbot_g1_steamer_storage_baozi_c.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "4.0GB", "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": "Galbot_g1", "codebase_version": "v2.1", "statistics": { "total_episodes": 207, "total_frames": 226059, "total_tasks": 1, "total_videos": 621, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:206" }, "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": [ 368, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 368, "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": [ 368, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 368, "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": [ 49 ], "names": [ "body_joint_1_rad", "body_joint_2_rad", "body_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", "left_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm" ] }, "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", "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" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "take steamed baozi put them in steamer then cover it.", "sub_tasks": [ "Grasp the pot lid with left gripper", "Abnormal", "Place the pot lid on the steamer with left gripper", "End", "Place the baozi on the steamer with right gripper", "Grasp the baozi in the plate with right 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": [ 368, 640, 3 ], "resolution": [ 368, 640 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 368, 640, 3 ], "resolution": [ 368, 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": [ 368, 640, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 368, 640, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 49 ], "names": [ "body_joint_1_rad", "body_joint_2_rad", "body_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", "left_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm" ] } }, "action_space": { "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", "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Galbot_g1_steamer_storage_baozi_c_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "steamer_storage_baozi_c", "dataset_uuid": null, "task_descriptions": [ "take steamed baozi put them in steamer then cover it." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "baozi", "level1": "food", "level2": "baozi", "level3": null, "level4": null, "level5": null }, { "object_name": "steamer", "level1": "container", "level2": "steamer", "level3": null, "level4": null, "level5": null }, { "object_name": "pot_lid", "level1": "daily_necessities", "level2": "pot_lid", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 0, "device_model": [ "galbo" ], "end_effector_type": "two_finger_gripper" } }, "R1_Lite_move_the_position_of_the_orange": { "dataset_name": "move_the_position_of_the_orange", "dataset_uuid": "5cff8c7f-bc80-41be-87f4-5cc1b132ed1c", "scene_type": [ "home" ], "atomic_actions": [ "place", "pick", "grasp" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "pen", "level1": "office_supplies", "level2": "pen", "level3": null, "level4": null, "level5": null }, { "object_name": "banana", "level1": "fruit", "level2": "banana", "level3": null, "level4": null, "level5": null }, { "object_name": "bath_ball", "level1": "daily_necessities", "level2": "bath_ball", "level3": null, "level4": null, "level5": null }, { "object_name": "bowl", "level1": "container", "level2": "bowl", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "can", "level1": "container", "level2": "can", "level3": null, "level4": null, "level5": null }, { "object_name": "eraser", "level1": "office_supplies", "level2": "eraser", "level3": null, "level4": null, "level5": null }, { "object_name": "hard_cleanser", "level1": "daily_necessities", "level2": "hard_cleanser", "level3": null, "level4": null, "level5": null }, { "object_name": "long_bread", "level1": "food", "level2": "long_bread", "level3": null, "level4": null, "level5": null }, { "object_name": "peeler", "level1": "tool", "level2": "peeler", "level3": null, "level4": null, "level5": null }, { "object_name": "block", "level1": "toy", "level2": "block", "level3": null, "level4": null, "level5": null }, { "object_name": "duck", "level1": "toy", "level2": "duck", "level3": null, "level4": null, "level5": null }, { "object_name": "soap", "level1": "daily_necessities", "level2": "soap", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "basket", "level1": "container", "level2": "basket", "level3": null, "level4": null, "level5": null }, { "object_name": "cola", "level1": "drink", "level2": "cola", "level3": null, "level4": null, "level5": null }, { "object_name": "detergent", "level1": "daily_necessities", "level2": "detergent", "level3": null, "level4": null, "level5": null }, { "object_name": "egg_beater", "level1": "electrical_appliances", "level2": "egg_beater", "level3": null, "level4": null, "level5": null }, { "object_name": "towel", "level1": "clothing", "level2": "towel", "level3": null, "level4": null, "level5": null }, { "object_name": "orange", "level1": "fruit", "level2": "orange", "level3": null, "level4": null, "level5": null }, { "object_name": "peach", "level1": "fruit", "level2": "peach", "level3": null, "level4": null, "level5": null }, { "object_name": "marker", "level1": "office_supplies", "level2": "marker", "level3": null, "level4": null, "level5": null }, { "object_name": "rubiks_cube", "level1": "toy", "level2": "rubiks_cube", "level3": null, "level4": null, "level5": null }, { "object_name": "bread_slice", "level1": "food", "level2": "bread_slice", "level3": null, "level4": null, "level5": null }, { "object_name": "brush", "level1": "daily_necessities", "level2": "brush", "level3": null, "level4": null, "level5": null }, { "object_name": "yogurt", "level1": "drink", "level2": "yogurt", "level3": null, "level4": null, "level5": null }, { "object_name": "power_strip", "level1": "electric_appliance", "level2": "power_strip", "level3": null, "level4": null, "level5": null }, { "object_name": "milk", "level1": "drink", "level2": "milk", "level3": null, "level4": null, "level5": null }, { "object_name": "soda", "level1": "drink", "level2": "soda", "level3": null, "level4": null, "level5": null }, { "object_name": "lime", "level1": "fruit", "level2": "lime", "level3": null, "level4": null, "level5": null }, { "object_name": "coffee_capsule", "level1": "drink", "level2": "coffee_capsule", "level3": null, "level4": null, "level5": null }, { "object_name": "dish", "level1": "container", "level2": "dish", "level3": null, "level4": null, "level5": null }, { "object_name": "glass", "level1": "furniture", "level2": "glass", "level3": null, "level4": null, "level5": null }, { "object_name": "egg_yolk_pastry", "level1": "food", "level2": "egg_yolk_pastry", "level3": null, "level4": null, "level5": null }, { "object_name": "glasses_case", "level1": "daily_necessities", "level2": "glasses_case", "level3": null, "level4": null, "level5": null }, { "object_name": "gum", "level1": "daily_necessities", "level2": "gum", "level3": null, "level4": null, "level5": null }, { "object_name": "tape", "level1": "daily_necessities", "level2": "tape", "level3": null, "level4": null, "level5": null }, { "object_name": "soft_cleanser", "level1": "daily_necessities", "level2": "soft_cleanser", "level3": null, "level4": null, "level5": null }, { "object_name": "chips", "level1": "food", "level2": "chips", "level3": null, "level4": null, "level5": null }, { "object_name": "chocolate", "level1": "food", "level2": "chocolate", "level3": null, "level4": null, "level5": null }, { "object_name": "cookie", "level1": "food", "level2": "cookie", "level3": null, "level4": null, "level5": null }, { "object_name": "spoon", "level1": "tableware", "level2": "spoon", "level3": null, "level4": null, "level5": null } ], "path": "R1_Lite_move_the_position_of_the_orange", "video_url": "./assets/videos/R1_Lite_move_the_position_of_the_orange.mp4", "thumbnail_url": "./assets/thumbnails/R1_Lite_move_the_position_of_the_orange.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "550.2MB", "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": "R1_Lite", "codebase_version": "v2.1", "statistics": { "total_episodes": 42, "total_frames": 15074, "total_tasks": 1, "total_videos": 168, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:41" }, "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_left_rgb": { "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_right_rgb": { "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 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" ] }, "action": { "dtype": "float32", "shape": [ 18 ], "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 }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "put the orange the designated position.", "sub_tasks": [ "End", "Place the orange on the table with right gripper", "Grasp the orange with right gripper", "Place the orange on the table with left gripper", "Grasp the orange with left gripper", "Static", "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_left_rgb", "name": "cam_high_left_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_right_rgb", "name": "cam_high_right_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_left_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_right_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "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" ] } }, "action_space": { "dtype": "float32", "shape": [ 18 ], "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "R1_Lite_move_the_position_of_the_orange_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_left_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_high_right_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- 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"level5": null }, { "object_name": "cookie", "level1": "food", "level2": "cookie", "level3": null, "level4": null, "level5": null }, { "object_name": "spoon", "level1": "tableware", "level2": "spoon", "level3": null, "level4": null, "level5": null } ], "path": "R1_Lite_move_the_position_of_the_spoon", "video_url": "./assets/videos/R1_Lite_move_the_position_of_the_spoon.mp4", "thumbnail_url": "./assets/thumbnails/R1_Lite_move_the_position_of_the_spoon.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "1K-10K", "dataset_size": "212.3MB", "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": 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"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 ] }, "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 ] }, "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 ] } }, "tasks": "put the spoon the designated position.", "sub_tasks": [ "Grasp the spoon with right gripper", "Grasp the spoon with left gripper", "Place the spoon on the table with left gripper", "Static", "End", "Place the spoon on the table with right 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_left_rgb", "name": "cam_high_left_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_right_rgb", "name": "cam_high_right_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_left_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_right_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "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" ] } }, "action_space": { "dtype": "float32", "shape": [ 18 ], "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "R1_Lite_move_the_position_of_the_spoon_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_left_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_high_right_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "move_the_position_of_the_spoon", "dataset_uuid": null, "task_descriptions": [ "put the spoon the designated position." ], "scene_type": [ "home" ], "atomic_actions": [ "place", "pick", "grasp" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "pen", "level1": "office_supplies", "level2": "pen", "level3": null, "level4": null, "level5": null }, { "object_name": "banana", "level1": "fruit", "level2": "banana", "level3": null, "level4": null, "level5": null }, { "object_name": "bath_ball", "level1": "daily_necessities", "level2": "bath_ball", "level3": null, "level4": null, "level5": null }, { "object_name": "bowl", "level1": "container", "level2": "bowl", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "can", "level1": "container", "level2": "can", "level3": null, "level4": null, "level5": null }, { "object_name": "eraser", "level1": "office_supplies", "level2": "eraser", "level3": null, "level4": null, "level5": null }, { "object_name": "hard_cleanser", "level1": "daily_necessities", "level2": "hard_cleanser", "level3": null, "level4": null, "level5": null }, { "object_name": "long_bread", "level1": "food", "level2": "long_bread", "level3": null, "level4": null, "level5": null }, { "object_name": "peeler", "level1": "tool", "level2": "peeler", "level3": null, "level4": null, "level5": null }, { "object_name": "block", "level1": "toy", "level2": "block", "level3": null, "level4": null, "level5": null }, { "object_name": "duck", "level1": "toy", "level2": "duck", "level3": null, "level4": null, "level5": null }, { "object_name": "soap", "level1": "daily_necessities", "level2": "soap", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "basket", "level1": "container", "level2": "basket", "level3": null, "level4": null, "level5": null }, { "object_name": "cola", "level1": "drink", "level2": "cola", "level3": null, "level4": null, "level5": null }, { "object_name": "detergent", "level1": "daily_necessities", "level2": "detergent", "level3": null, 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"right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] } }, "action_space": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "leju_robot_hotel_services_ac_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.camera_head_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.camera_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.camera_right_wrist_rgb/\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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "hotel_services_ac", "dataset_uuid": null, "task_descriptions": [ "pick room card from front box and give room card." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "card", "level1": "nfc", "level2": "card", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "sensor", "level1": "electronic_products", "level2": "sensor", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "leju_kuavo_4_pro" ], "end_effector_type": "five_finger_gripper" } }, "leju_robot_moving_parts_q": { "dataset_name": "moving_parts_q", "dataset_uuid": "1632a2f6-2fac-45cf-b9d6-7088ebda0870", "scene_type": [], "atomic_actions": [], "end_effector_type": [ "five_finger_hand" ], "operation_platform_height": null, "objects": [], "path": "leju_robot_moving_parts_q", "video_url": "./assets/videos/leju_robot_moving_parts_q.mp4", "thumbnail_url": "./assets/thumbnails/leju_robot_moving_parts_q.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "51.9GB", "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": "leju_robot", "codebase_version": "v2.1", "statistics": { "total_episodes": 494, "total_frames": 756932, "total_tasks": 1, "total_videos": 1482, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:493" }, "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.camera_head_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_left_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_right_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "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": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] }, "action": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "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": "take the parts from the cabinet and place them on the table.", "sub_tasks": [ "Place the black part on the table with right gripper", "Pick up the large material from the shelf.", "Insert the large material into the corresponding slot on the workbench.", "End", "Grasp the black part with right gripper", "Move the large material to the workbench.", "Move to the initial position of the shelf.", "Move to the table behind body", "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.camera_head_rgb", "name": "camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_left_wrist_rgb", "name": "camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_right_wrist_rgb", "name": "camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] } }, "action_space": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "leju_robot_moving_parts_q_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.camera_head_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.camera_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.camera_right_wrist_rgb/\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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": {} }, "G1edu-u3_put_the_bread_aw": { "dataset_name": "put_the_bread_aw", "dataset_uuid": "e6db4b80-8fbb-4767-b613-734d0e088946", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place" ], "end_effector_type": [ "three_finger_hand" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "bread", "level1": "food", "level2": "bread", "level3": null, "level4": null, "level5": null } ], "path": "G1edu-u3_put_the_bread_aw", "video_url": "./assets/videos/G1edu-u3_put_the_bread_aw.mp4", "thumbnail_url": "./assets/thumbnails/G1edu-u3_put_the_bread_aw.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "1K-10K", "dataset_size": "65.2MB", "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": "G1edu-u3", "codebase_version": "v2.1", "statistics": { "total_episodes": 26, "total_frames": 5153, "total_tasks": 1, "total_videos": 26, "total_chunks": 1, "chunks_size": 26, "fps": 30 }, "splits": { "train": "0:25" }, "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.ego_view": { "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.state": { "dtype": "float32", "shape": [ 30 ], "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": [ 30 ], "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": "float64", "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": "Pick up the water bottle\nPick up the bread\nPick up the pink cup\nPick up the lemmon\nPick up the tissue box\nPick up the toy bear\nPlace the water bottle\nPlace the bread\nPlace the pink cup\nPlace the lemon\nPlace the lemon on the orange round plate\nPlace the tissue box\nPlace the toy bear", "sub_tasks": [ "Place the long bread on the table with left gripper", "End", "Place the long bread on the table with right 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.ego_view", "name": "ego_view", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.ego_view", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channel" ] } ], "state": { "dtype": "float32", "shape": [ 30 ], "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_space": { "dtype": "float32", "shape": [ 30 ], "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "G1edu-u3_put_the_bread_aw_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.ego_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "put_the_bread_aw", "dataset_uuid": null, "task_descriptions": [ "put the bread on the table." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "bread", "level1": "food", "level2": "bread", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "unitree_g1" ], "end_effector_type": "three_finger_hand" } }, "Cobot_Magic_fold_towel_a": { "dataset_name": "fold_towel_a", "dataset_uuid": "2d50475c-06c8-47bd-a56f-c0d235e1835a", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place", "fold" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "towel", "level1": "clothing", "level2": "towel", "level3": null, "level4": null, "level5": null } ], "path": "Cobot_Magic_fold_towel_a", "video_url": "./assets/videos/Cobot_Magic_fold_towel_a.mp4", "thumbnail_url": "./assets/thumbnails/Cobot_Magic_fold_towel_a.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "1.7GB", "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": "Cobot_Magic", "codebase_version": "v2.1", "statistics": { "total_episodes": 96, "total_frames": 50478, "total_tasks": 1, "total_videos": 288, "total_chunks": 1, "chunks_size": 1000, "fps": 50 }, "splits": { "train": "0:95" }, "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": 50, "video.channels": 3, "has_audio": false } }, "observation.images.cam_left_wrist_rgb_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": 50, "video.channels": 3, "has_audio": false } }, "observation.images.cam_right_wrist_rgb_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": 50, "video.channels": 3, "has_audio": false } }, "observation.state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "fold the towel on the table twice.", "sub_tasks": [ "pick up the towel with two arm", "Fold the towel twice on the table", "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": 50, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb_rgb", "name": "cam_left_wrist_rgb_rgb", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 50, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb_rgb", "name": "cam_right_wrist_rgb_rgb", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 50, "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_rgb", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb_rgb", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Cobot_Magic_fold_towel_a_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_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_rgb/\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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "fold_towel_a", "dataset_uuid": null, "task_descriptions": [ "fold the towel on the table twice." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place", "fold" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "towel", "level1": "clothing", "level2": "towel", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "agilex_cobot_decoupled_magic" ], "end_effector_type": "two_finger_gripper" } }, "AIRBOT_MMK2_storage_box_for_mouse_and_sponge": { "dataset_name": "storage_box_for_mouse_and_sponge", "dataset_uuid": "2c6237a9-4c9b-45ce-bd08-c48c42462c93", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "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": "mouse_box", "level1": "container", "level2": "mouse_box", "level3": null, "level4": null, "level5": null }, { "object_name": "sponge", "level1": "daily_necessities", "level2": "sponge", "level3": null, "level4": null, "level5": null }, { "object_name": "round_plate", "level1": "container", "level2": "round_plate", "level3": null, "level4": null, "level5": null } ], "path": "AIRBOT_MMK2_storage_box_for_mouse_and_sponge", "video_url": "./assets/videos/AIRBOT_MMK2_storage_box_for_mouse_and_sponge.mp4", "thumbnail_url": "./assets/thumbnails/AIRBOT_MMK2_storage_box_for_mouse_and_sponge.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "1K-10K", "dataset_size": "299.3MB", "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": 9471, "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": "Place the mouse box and the sponge in the round plate using one hand.", "sub_tasks": [ "Grasp the sponge with the right gripper", "Static", "Place the box on the white plate with the left gripper", "End", "Abnormal", "Place the sponge on the white plate with the right gripper", "Grasp the box 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_storage_box_for_mouse_and_sponge_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "storage_box_for_mouse_and_sponge", "dataset_uuid": null, "task_descriptions": [ "place the mouse box in the round plate with your left hand, put the sponge in the round plate with your right hand." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "mouse_box", "level1": "container", "level2": "mouse_box", "level3": null, "level4": null, "level5": null }, { "object_name": "sponge", "level1": "daily_necessities", "level2": "sponge", "level3": null, "level4": null, "level5": null }, { "object_name": "round_plate", "level1": "container", "level2": "round_plate", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "airbot mmk2" ], "end_effector_type": "five_finger_hand" } }, "Cobot_Magic_take_the_shoes_off_the_shelf": { "dataset_name": "take_the_shoes_off_the_shelf", "dataset_uuid": "ed522b9e-68ff-49a2-b61d-a81ed07e5aa2", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "shoes", "level1": "clothing", "level2": "shoes", "level3": null, "level4": null, "level5": null }, { "object_name": "shoe_rack", "level1": "furniture", "level2": "shoe_rack", "level3": null, "level4": null, "level5": null } ], "path": "Cobot_Magic_take_the_shoes_off_the_shelf", "video_url": "./assets/videos/Cobot_Magic_take_the_shoes_off_the_shelf.mp4", "thumbnail_url": "./assets/thumbnails/Cobot_Magic_take_the_shoes_off_the_shelf.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "18.2GB", "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": "Cobot_Magic", "codebase_version": "v2.1", "statistics": { "total_episodes": 595, "total_frames": 321834, "total_tasks": 6, "total_videos": 1785, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:594" }, "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_front_rgb": { "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "take the shoes off the shelf with your hand from the blue coffee tablecloth.\ntake the shoes off the shelf from the light coffee tablecloth by hand.\ntake the shoes off the shelf with your hand from the green coffee tablecloth.\ntake the shoes off the shelf with your hand from the grey coffee tablecloth.\ntake the shoes off the shelf with your hand from the white checkered tablecloth.\ntake the shoes off the shelf with your hand on the white table.", "sub_tasks": [ "use the right arm to clamp a shoe in the middle of the shoe rack", "use the right arm to take out the clamped shoe from the shoe rack and put it down", "use the left arm to clamp a shoe in the middle of the shoe rack", "use the left arm to clamp a shoe on the left side of the shoe rack", "Use your left arm to remove the clamped shoe from the shoe rack and put it down", "use the right arm to clamp a shoe on the right side of the shoe rack", "use the right arm to clamp a shoe on the left side of the shoe rack", "Hold the shoe in the middle of the shoe rack with your right arm", "use the left arm to clamp a shoe on the right side of the shoe rack", "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_front_rgb", "name": "cam_front_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_front_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Cobot_Magic_take_the_shoes_off_the_shelf_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_front_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "take_the_shoes_off_the_shelf", "dataset_uuid": null, "task_descriptions": [ "take the shoes off the shelf with your hand from the blue tablecloth.", "take the shoes off the shelf from the light coffee tablecloth by hand.", "take the shoes off the shelf with your hand from the green tablecloth.", "take the shoes off the shelf with your hand from the grey tablecloth.", "take the shoes off the shelf with your hand on the white table.", "take the shoes off the shelf with your hand from the white checkered tablecloth." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "shoes", "level1": "clothing", "level2": "shoes", "level3": null, "level4": null, "level5": null }, { "object_name": "shoe_rack", "level1": "furniture", "level2": "shoe_rack", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "agilex_cobot_decoupled_magic" ], "end_effector_type": "two_finger_gripper" } }, "RMC-AIDA-L_storage_bin_storage": { "dataset_name": "storage_bin_storage", "dataset_uuid": "257289bb-b38e-411f-a2d0-d787e9f12419", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "teacup", "level1": "container", "level2": "teacup", "level3": null, "level4": null, "level5": null }, { "object_name": "block", "level1": "toy", "level2": "block", "level3": null, "level4": null, "level5": null }, { "object_name": "storage_bin", "level1": "container", "level2": "storage_bin", "level3": null, "level4": null, "level5": null } ], "path": "RMC-AIDA-L_storage_bin_storage", "video_url": "./assets/videos/RMC-AIDA-L_storage_bin_storage.mp4", "thumbnail_url": "./assets/thumbnails/RMC-AIDA-L_storage_bin_storage.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "15.7GB", "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": "RMC-AIDA-L", "codebase_version": "v2.1", "statistics": { "total_episodes": 302, "total_frames": 914776, "total_tasks": 1, "total_videos": 906, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:301" }, "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.state": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] }, "action": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "pick up the teacup on the table and place it into the storage bin, pick up the block on the table and place it into the storage bin.", "sub_tasks": [ "Place the orange block in the storage box with left gripper", "Place the white block in the storage box with left gripper", "Place the red block in the storage box with left gripper", "Grasp the green block with left gripper", "Grasp the dark blue block with right gripper", "Grasp the orange block with left gripper", "Place the white block in the storage box with right gripper", "Place the green block and red block in the storage box with left gripper", "Grasp the cup with left gripper", "Place the dark blue block in the storage box with left gripper", "Grasp the orange block and white block with left gripper", "Grasp the light blue block with right gripper", "Place the green block in the storage box with right gripper", "Place the light blue block in the storage box with left gripper", "Grasp the red block with left gripper", "Grasp the white block with right gripper", "Place the orange block in the storage box with right gripper", "Grasp the green block and red block with left gripper", "Place the green block in the storage box with left gripper", "Grasp the cup with right gripper", "Abnormal", "Place the red block in the storage box with right gripper", "Place the cup in the storage box with left gripper", "Grasp the light blue block with left gripper", "Place the light blue block in the storage box with right gripper", "End", "Place the dark blue block in the storage box with right gripper", "Place the cup in the storage box with right gripper", "Place the orange block and white block in the storage box with left gripper", "Grasp the green block with right gripper", "Grasp the white block with left gripper", "Grasp the red block with right gripper", "Static", "Grasp the orange block with right gripper", "Grasp the dark blue block with 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 } ], "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" ] } ], "state": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] } }, "action_space": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "RMC-AIDA-L_storage_bin_storage_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "storage_bin_storage", "dataset_uuid": null, "task_descriptions": [ "pick up the teacup on the table and place it into the storage bin, pick up the block on the table and place it into the storage bin." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "teacup", "level1": "container", "level2": "teacup", "level3": null, "level4": null, "level5": null }, { "object_name": "block", "level1": "toy", "level2": "block", "level3": null, "level4": null, "level5": null }, { "object_name": "storage_bin", "level1": "container", "level2": "storage_bin", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "realman_rmc_aidal" ], "end_effector_type": "two_finger_gripper" } }, "R1_Lite_wipe_the_table": { "dataset_name": "wipe_the_table", "dataset_uuid": "b7447b1b-1e24-4b6f-9835-82048a217823", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "towel", "level1": "clothing", "level2": "towel", "level3": null, "level4": null, "level5": null }, { "object_name": "stains", "level1": "rubbish", "level2": "stains", "level3": null, "level4": null, "level5": null } ], "path": "R1_Lite_wipe_the_table", "video_url": "./assets/videos/R1_Lite_wipe_the_table.mp4", "thumbnail_url": "./assets/thumbnails/R1_Lite_wipe_the_table.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "2.4GB", "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": "R1_Lite", "codebase_version": "v2.1", "statistics": { "total_episodes": 107, "total_frames": 67215, "total_tasks": 1, "total_videos": 321, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:106" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "wipe the stains on the table with a cloth.", "sub_tasks": [ "Pick up the tablecloth", "Place the tablecloth", "Place the bottle at the back of the table", "Pick up the bottle", "Sweep the stains on the table", "Hand it to the other hand", "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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "R1_Lite_wipe_the_table_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "wipe_the_table", "dataset_uuid": null, "task_descriptions": [ "wipe the stains on the table with a cloth." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "towel", "level1": "clothing", "level2": "towel", "level3": null, "level4": null, "level5": null }, { "object_name": "stains", "level1": "rubbish", "level2": "stains", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "galaxea_r1_lite" ], "end_effector_type": "two_finger_gripper" } }, "AIRBOT_MMK2_take_down_umbrella_and_mineral_water": { "dataset_name": "take_down_umbrella_and_mineral_water", "dataset_uuid": "f02d7798-2ef4-4eb5-9f41-d9d908b80510", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "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": "umbrella", "level1": "tool", "level2": "umbrella", "level3": null, "level4": null, "level5": null }, { "object_name": "mineral_water", "level1": "drink", "level2": "mineral_water", "level3": null, "level4": null, "level5": null }, { "object_name": "lid", "level1": "container", "level2": "lid", "level3": null, "level4": null, "level5": null }, { "object_name": "vitamin_b_water", "level1": "beverage", "level2": "vitamin_b_water", "level3": null, "level4": null, "level5": null }, { "object_name": "egg", "level1": "food", "level2": "egg", "level3": null, "level4": null, "level5": null }, { "object_name": "cake", "level1": "food", "level2": "cake", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "building_blocks", "level1": "toy", "level2": "building_blocks", "level3": null, "level4": null, "level5": null } ], "path": "AIRBOT_MMK2_take_down_umbrella_and_mineral_water", "video_url": "./assets/videos/AIRBOT_MMK2_take_down_umbrella_and_mineral_water.mp4", "thumbnail_url": "./assets/thumbnails/AIRBOT_MMK2_take_down_umbrella_and_mineral_water.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "1.2GB", "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": 212, "total_frames": 31517, "total_tasks": 5, "total_videos": 848, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:211" }, "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": "pick up the blue and green cubes from the lid of the paper box simultaneously with both hands and place them on the table.\nUse one hand to take the white umbrella off the white lid and then use your other hand to take the mineral water off the white lid.\nTake the vitamin b water off the white cap with one hand, and then take another vitamin b water off the white cap with your other hand.\nTake out the yellow egg with one hand.\ntake the two black cakes out of the white box simultaneously with both hands and place them on the table.", "sub_tasks": [ "Place the cake on the table with the left gripper", "Place the mineral water on the table with the left gripper", "Grasp the umbrella on the white lid with the right gripper", "Grasp the cake from the white basket with the right gripper", "Grasp the vitamin B water on the white lid with the left gripper", "Place the umbrella on the table with the right gripper", "Grasp the blue cube block on the paper box with the left gripper", "Place the green cube block on the table with the right gripper", "End", "Grasp the cake from the white basket with the left gripper", "Place the blue cube block on the table with the left gripper", "Grasp the mineral water on the white lid with the left gripper", "Place the vitamin B water on the table with the right gripper", "Place the vitamin B water on the table with the left gripper", "Static", "Place the cake on the table with the right gripper", "Abnormal", "Grasp the egg from the egg storage box with the right gripper", "Place the egg on the table with the right gripper", "Grasp the vitamin B water on the white lid with the right gripper", "Grasp the green cube block on the paper box with the right 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_take_down_umbrella_and_mineral_water_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "take_down_umbrella_and_mineral_water", "dataset_uuid": null, "task_descriptions": [ "use your right hand to take the white umbrella off the white lid then use your left hand to take the mineral water off the white lid.", "take the vitamin b water off the white cap with your left hand, and then take another vitamin b water off the white cap with your right hand.", "take out the yellow egg with your right hand.", "take the two black cakes out of the white box simultaneously with both hands and place them on the table.", "pick up the blue and green cubes from the lid of the paper box simultaneously with both hands and place them on the table." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "umbrella", "level1": "tool", "level2": "umbrella", "level3": null, "level4": null, "level5": null }, { "object_name": "mineral_water", "level1": "drink", "level2": "mineral_water", "level3": null, "level4": null, "level5": null }, { "object_name": "lid", "level1": "container", "level2": "lid", "level3": null, "level4": null, "level5": null }, { "object_name": "vitamin_b_water", "level1": "beverage", "level2": "vitamin_b_water", "level3": null, "level4": null, "level5": null }, { "object_name": "egg", "level1": "food", "level2": "egg", "level3": null, "level4": null, "level5": null }, { "object_name": "cake", "level1": "food", "level2": "cake", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "building_blocks", "level1": "toy", "level2": "building_blocks", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "airbot mmk2" ], "end_effector_type": "five_finger_hand" } }, "AIRBOT_MMK2_storage_tissue_and_milk_carton": { "dataset_name": "storage_tissue_and_milk_carton", "dataset_uuid": "65bf2295-305d-4c59-aac7-0ce3349acaf9", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "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": "tissue_paper", "level1": "daily_necessities", "level2": "tissue_paper", "level3": null, "level4": null, "level5": null }, { "object_name": "lid", "level1": "container", "level2": "lid", "level3": null, "level4": null, "level5": null }, { "object_name": "milk_carton", "level1": "container", "level2": "milk_carton", "level3": null, "level4": null, "level5": null } ], "path": "AIRBOT_MMK2_storage_tissue_and_milk_carton", "video_url": "./assets/videos/AIRBOT_MMK2_storage_tissue_and_milk_carton.mp4", "thumbnail_url": "./assets/thumbnails/AIRBOT_MMK2_storage_tissue_and_milk_carton.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "1K-10K", "dataset_size": "338.3MB", "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": 47, "total_frames": 9751, "total_tasks": 1, "total_videos": 188, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:46" }, "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": "Place the tissue paper on the white lid with one hand, and with the other hand, put the milk carton with the straw on top of the white lid.", "sub_tasks": [ "Abnormal", "Grasp the tissue with the left gripper", "Static", "End", "Place the tissue on the white basket with the left gripper", "Grasp the milk with the right gripper", "Place the milk on the white basket with the right 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_storage_tissue_and_milk_carton_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "storage_tissue_and_milk_carton", "dataset_uuid": null, "task_descriptions": [ "place the tissue paper on the white lid with your left hand, using your right hand, put the milk carton with the straw on top of the white lid." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "tissue_paper", "level1": "daily_necessities", "level2": "tissue_paper", "level3": null, "level4": null, "level5": null }, { "object_name": "lid", "level1": "container", "level2": "lid", "level3": null, "level4": null, "level5": null }, { "object_name": "milk_carton", "level1": "container", "level2": "milk_carton", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "airbot mmk2" ], "end_effector_type": "five_finger_hand" } }, "Split_aloha_pour_tea": { "dataset_name": "pour_tea", "dataset_uuid": "dc22129e-7334-4a8e-b843-438763c0a08f", "scene_type": [ "home", "office" ], "atomic_actions": [ "grasp", "place", "pick", "pour" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "teacup", "level1": "container", "level2": "teacup", "level3": null, "level4": null, "level5": null }, { "object_name": "teapot", "level1": "container", "level2": "teapot", "level3": null, "level4": null, "level5": null } ], "path": "Split_aloha_pour_tea", "video_url": "./assets/videos/Split_aloha_pour_tea.mp4", "thumbnail_url": "./assets/thumbnails/Split_aloha_pour_tea.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "1M-10M", "dataset_size": "13.4GB", "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": "Split_aloha", "codebase_version": "v2.1", "statistics": { "total_episodes": 1024, "total_frames": 1322112, "total_tasks": 5, "total_videos": 3072, "total_chunks": 2, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:1023" }, "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.state": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "action": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "timestamp": { "dtype": "float32", "shape": [ 1 ], "names": null }, "frame_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "episode_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "task_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "subtask_annotation": { "names": null, "dtype": "int32", "shape": [ 5 ] }, "scene_annotation": { "names": null, "dtype": "int32", "shape": [ 1 ] }, "eef_sim_pose_state": { "names": [ "left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_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 ] }, "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 ] }, "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 ] } }, "tasks": "pour tea into the teacup.\ngrasp the brown teapot and pour the tea into the two brown teacups one by one, put the brown teapot back in its original place.\ngrasp the brown teapot and pour the tea into the two white teacups one by one, put the brown teapot back in its original place.\ngrasp the stainless steel teapot and pour the tea into the two stainless steel teacups one by one, put the stainless steel teapot back in its original place.\ngrasp the blue porcelain teapot and pour the tea into the two blue porcelain teacups one by one, put the blue porcelain teapot back in its original place.", "sub_tasks": [ "Pick up the teacup with the right gripper", "Place the teacup in the center of view with the right gripper", "Place the down the teapot with the right gripper", "Pick up the teapot with the left gripper", "Grasp the teapot with left gripper", "Pick up the teacup with the left gripper", "Abnormal", "Put down the teapot with left gripper", "Grasp the teapot with right gripper", "Pour tea into the teacup with right gripper", "Pick up the teapot with the right gripper", "Pour tea into the teacup with the right gripper", "Put down the teapot with right gripper", "End", "Place the down the teapot with the left gripper", "Pour tea into the teacup with the left gripper", "Pour tea into the teacup with 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 } ], "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" ] } ], "state": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] } }, "action_space": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Split_aloha_pour_tea_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│ └── chunk-001/\n│ ├── episode_001000.parquet\n│ ├── episode_001001.parquet\n│ ├── episode_001002.parquet\n│ ├── episode_001003.parquet\n│ ├── episode_001004.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 └── chunk-001/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_001000.mp4\n ├── episode_001001.mp4\n ├── episode_001002.mp4\n ├── episode_001003.mp4\n ├── episode_001004.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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "pour_tea", "dataset_uuid": null, "task_descriptions": [ "pour tea into the teacup.", "the left gripper grasp the teacup and place it in the center of the table, the right gripper grasp the teapot and pour tea into the teacup, the right gripper set down the teapot.", "the right gripper grasp the teacup and place it in the center of the table, the left gripper grasp the teapot and pour tea into the teacup, the left gripper set down the teapot.", "grasp the blue porcelain teapot and pour the tea into the two blue porcelain teacups one by one, put the blue porcelain teapot back in its original place.", "grasp the brown teapot and pour the tea into the two brown teacups one by one, put the brown teapot back in its original place.", "grasp the brown teapot and pour the tea into the two white teacups one by one, put the brown teapot back in its original place.", "grasp the stainless steel teapot and pour the tea into the two stainless steel teacups one by one, put the stainless steel teapot back in its original place." ], "scene_type": [ "home", "office" ], "atomic_actions": [ "grasp", "place", "pick", "pour" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "teacup", "level1": "container", "level2": "teacup", "level3": null, "level4": null, "level5": null }, { "object_name": "teapot", "level1": "container", "level2": "teapot", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "agilex_cobot_magic_aloha" ], "end_effector_type": "two_finger_gripper" } }, "RMC-AIDA-L_pour_tea": { "dataset_name": "pour_tea", "dataset_uuid": "25f997d1-8e07-4035-b14f-0b3219460e17", "scene_type": [ "home", "restaurant" ], "atomic_actions": [ "grasp", "place", "pick", "pour" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "cup", "level1": "container", "level2": "cup", "level3": null, "level4": null, "level5": null }, { "object_name": "tea", "level1": "water", "level2": "tea", "level3": null, "level4": null, "level5": null }, { "object_name": "teapot", "level1": "container", "level2": "teapot", "level3": null, "level4": null, "level5": null } ], "path": "RMC-AIDA-L_pour_tea", "video_url": "./assets/videos/RMC-AIDA-L_pour_tea.mp4", "thumbnail_url": "./assets/thumbnails/RMC-AIDA-L_pour_tea.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "4.0GB", "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": "RMC-AIDA-L", "codebase_version": "v2.1", "statistics": { "total_episodes": 790, "total_frames": 547759, "total_tasks": 2, "total_videos": 2370, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:789" }, "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.state": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] }, "action": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "Grasp the handle of the teapot with one hand and pour tea into the teacup.\nGrasp the handle of the teapot with one hand and pour tea into the teacup.", "sub_tasks": [ "Pour tea into the teacup with the light gripper", "Pour tea into the teacup with the right gripper", "end", "abnormal", "Pour tea into the teacup with the left gripper", "Pick up the teacup with the right gripper", "Put down the teapot with the left gripper", "Pick up the teacup with the left gripper", "Pick up the teapot with the right gripper", "Place the teacup in the center of view with the left gripper", "Pick up the teapot with the left gripper", "Put down the teapot with the right gripper", "Place the teacup in the center of view with the right 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 } ], "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" ] } ], "state": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] } }, "action_space": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "RMC-AIDA-L_pour_tea_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "pour_tea", "dataset_uuid": null, "task_descriptions": [ "grasp the handle of the teapot with left hand and pour tea into the teacup.", "grasp the handle of the teapot with right hand and pour tea into the teacup." ], "scene_type": [ "home", "restaurant" ], "atomic_actions": [ "grasp", "place", "pick", "pour" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "cup", "level1": "container", "level2": "cup", "level3": null, "level4": null, "level5": null }, { "object_name": "tea", "level1": "water", "level2": "tea", "level3": null, "level4": null, "level5": null }, { "object_name": "teapot", "level1": "container", "level2": "teapot", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "realman rmc-aida-l" ], "end_effector_type": "two_finger_gripper" } }, "R1_Lite_tea_service_table_setting": { "dataset_name": "tea_service_table_setting", "dataset_uuid": "ae8f641b-7e62-47e3-a80a-aab9866a8d29", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "tea_table", "level1": "furniture", "level2": "tea_table", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "mineral_water", "level1": "beverages", "level2": "mineral_water", "level3": null, "level4": null, "level5": null }, { "object_name": "cup", "level1": "container", "level2": "cup", "level3": null, "level4": null, "level5": null }, { "object_name": "kettle", "level1": "container", "level2": "kettle", "level3": null, "level4": null, "level5": null }, { "object_name": "tea_bag", "level1": "drink", "level2": "tea_bag", "level3": null, "level4": null, "level5": null } ], "path": "R1_Lite_tea_service_table_setting", "video_url": "./assets/videos/R1_Lite_tea_service_table_setting.mp4", "thumbnail_url": "./assets/thumbnails/R1_Lite_tea_service_table_setting.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "4.6GB", "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": "R1_Lite", "codebase_version": "v2.1", "statistics": { "total_episodes": 109, "total_frames": 107465, "total_tasks": 1, "total_videos": 327, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:108" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "take water kettle tea bags from tray to table then back.", "sub_tasks": [ "Return the tea bag to its original position", "Pick up the tea bag", "Pick up the tea cup", "Return the tea cup to its original position", "abnormal", "Return the bottled water to its original position", "Place it on the right", "Return the kettle to its original position", "Place it on the left", "Place it in front of you", "Pick up the kettle", "Pick up the bottled water", "Place it on the tray", "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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "R1_Lite_tea_service_table_setting_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "tea_service_table_setting", "dataset_uuid": null, "task_descriptions": [ "take water kettle tea bags from tray to table then back." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "tea_table", "level1": "furniture", "level2": "tea_table", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "mineral_water", "level1": "beverages", "level2": "mineral_water", "level3": null, "level4": null, "level5": null }, { "object_name": "cup", "level1": "container", "level2": "cup", "level3": null, "level4": null, "level5": null }, { "object_name": "kettle", "level1": "container", "level2": "kettle", "level3": null, "level4": null, "level5": null }, { "object_name": "tea_bag", "level1": "drink", "level2": "tea_bag", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "galaxea_r1_lite" ], "end_effector_type": "two_finger_gripper" } }, "AIRBOT_MMK2_storage_item": { "dataset_name": "storage_item", "dataset_uuid": "b53b741f-6c4c-401c-a3cf-83ef26539097", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "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": "building_blocks", "level1": "toy", "level2": "building_blocks", "level3": null, "level4": null, "level5": null }, { "object_name": "bowl", "level1": "container", "level2": "bowl", "level3": null, "level4": null, "level5": null }, { "object_name": "tape_measure", "level1": "tool", "level2": "tape_measure", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null } ], "path": "AIRBOT_MMK2_storage_item", "video_url": "./assets/videos/AIRBOT_MMK2_storage_item.mp4", "thumbnail_url": "./assets/thumbnails/AIRBOT_MMK2_storage_item.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "1K-10K", "dataset_size": "357.6MB", "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": 47, "total_frames": 8573, "total_tasks": 1, "total_videos": 188, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:46" }, "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": "Pick up the building blocks from the table with one hand and place them in the bowl, then pick up the tape measure from the table with your other hand and place it in the small tray.", "sub_tasks": [ "Place the green rectangular block into the blue bowl with the left gripper", "Place the tape measure into the pink plate with the right gripper", "Grasp the tape measure with the right gripper", "Static", "Grasp the green rectangular block with the left gripper", "End", "Abnormal", "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_storage_item_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "storage_item", "dataset_uuid": null, "task_descriptions": [ "pick up the building blocks on the table with your left hand and place them in the bowl; pick up the tape measure from the table with your right hand and place it in the small tray." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "building_blocks", "level1": "toy", "level2": "building_blocks", "level3": null, "level4": null, "level5": null }, { "object_name": "bowl", "level1": "container", "level2": "bowl", "level3": null, "level4": null, "level5": null }, { "object_name": "tape_measure", "level1": "tool", "level2": "tape_measure", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "airbot mmk2" ], "end_effector_type": "five_finger_hand" } }, "leju_robot_box_storage_parcel_a": { "dataset_name": "box_storage_parcel_a", "dataset_uuid": "58a31ae7-afbc-4d56-953d-6df89f8c1ba5", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "five_finger_hand" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "parcel", "level1": "container", "level2": "parcel", "level3": null, "level4": null, "level5": null }, { "object_name": "conveyor_belt", "level1": "tool", "level2": "conveyor_belt", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null } ], "path": "leju_robot_box_storage_parcel_a", "video_url": "./assets/videos/leju_robot_box_storage_parcel_a.mp4", "thumbnail_url": "./assets/thumbnails/leju_robot_box_storage_parcel_a.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "9.7GB", "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": "leju_robot", "codebase_version": "v2.1", "statistics": { "total_episodes": 493, "total_frames": 189545, "total_tasks": 1, "total_videos": 1479, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:492" }, "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.camera_head_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_left_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_right_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "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": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] }, "action": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "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": "moved the parcel from conveyor to table for the left to box.", "sub_tasks": [ "Place the package into the parcel locker.", "Pick up the package from the inbound machine.", "Pick up the package from the conveyor belt.", "Place the package onto the inbound machine.", "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.camera_head_rgb", "name": "camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_left_wrist_rgb", "name": "camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_right_wrist_rgb", "name": "camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] } }, "action_space": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "leju_robot_box_storage_parcel_a_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.camera_head_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.camera_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.camera_right_wrist_rgb/\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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "box_storage_parcel_a", "dataset_uuid": null, "task_descriptions": [ "move the parcel with right hand from conveyor to table and then move the parcel to the left box with left hand." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "parcel", "level1": "container", "level2": "parcel", "level3": null, "level4": null, "level5": null }, { "object_name": "conveyor_belt", "level1": "tool", "level2": "conveyor_belt", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "leju_kuavo_4_pro" ], "end_effector_type": "five_finger_gripper" } }, "G1edu-u3_place_metal_bowl_af": { "dataset_name": "place_metal_bowl_af", "dataset_uuid": "7335e7b9-55d2-417a-ba15-8aeba616ce6e", "scene_type": [ "home" ], "atomic_actions": [ "pick", "place" ], "end_effector_type": [ "three_finger_hand" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "metal_bowl", "level1": "container", "level2": "metal_bowl", "level3": null, "level4": null, "level5": null } ], "path": "G1edu-u3_place_metal_bowl_af", "video_url": "./assets/videos/G1edu-u3_place_metal_bowl_af.mp4", "thumbnail_url": "./assets/thumbnails/G1edu-u3_place_metal_bowl_af.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "1K-10K", "dataset_size": "95.9MB", "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": "G1edu-u3", "codebase_version": "v2.1", "statistics": { "total_episodes": 38, "total_frames": 6265, "total_tasks": 1, "total_videos": 38, "total_chunks": 1, "chunks_size": 39, "fps": 30 }, "splits": { "train": "0:37" }, "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.ego_view": { "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.state": { "dtype": "float32", "shape": [ 30 ], "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": [ 30 ], "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": "float64", "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": "Pick up the crumpled paper\nPick up the empty bottle\nPick up the leftover food\nPick up the metal bowl\nPick up the metal bowl\nPick up the plastic bowl\nPick up the plastic bowl\nPlace the metal bowl\nPlace the metal bowl\nPlace the plastic bowl\nPlace the plastic bowl", "sub_tasks": [ "Place the metal bowl on the table with left gripper", "End", "Place the metal bowl on the table with right 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.ego_view", "name": "ego_view", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.ego_view", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channel" ] } ], "state": { "dtype": "float32", "shape": [ 30 ], "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_space": { "dtype": "float32", "shape": [ 30 ], "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "G1edu-u3_place_metal_bowl_af_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.ego_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "place_metal_bowl_af", "dataset_uuid": null, "task_descriptions": [ "put the metal bowl on the table." ], "scene_type": [ "home" ], "atomic_actions": [ "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "metal_bowl", "level1": "container", "level2": "metal_bowl", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "unitree_g1" ], "end_effector_type": "three_finger_hand" } }, "RMC-AIDA-L_food_storage": { "dataset_name": "food_storage", "dataset_uuid": "f217b0c1-9f1e-4598-9845-0a85906dadf6", "scene_type": [ "home", "kitchen" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "handbag", "level1": "container", "level2": "handbag", "level3": null, "level4": null, "level5": null }, { "object_name": "bread", "level1": "food", "level2": "bread", "level3": null, "level4": null, "level5": null }, { "object_name": "egg_yolk_pastry", "level1": "food", "level2": "egg_yolk_pastry", "level3": null, "level4": null, "level5": null }, { "object_name": "orange", "level1": "fruit", "level2": "orange", "level3": null, "level4": null, "level5": null }, { "object_name": "peach", "level1": "fruit", "level2": "peach", "level3": null, "level4": null, "level5": null } ], "path": "RMC-AIDA-L_food_storage", "video_url": "./assets/videos/RMC-AIDA-L_food_storage.mp4", "thumbnail_url": "./assets/thumbnails/RMC-AIDA-L_food_storage.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "2.5GB", "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": "RMC-AIDA-L", "codebase_version": "v2.1", "statistics": { "total_episodes": 499, "total_frames": 274806, "total_tasks": 12, "total_videos": 1497, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:498" }, "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.state": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] }, "action": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "pick up the bread from the table and place it in the brown handbag.\npick up the orange from the table and place it in the brown handbag.\npick up the orange and peach from the table and place it in the brown handbag.\npick up the peach from the table and place it in the brown handbag.\npick up the bread and egg yolk pastry from the table and place it in the brown handbag.\npick up the egg yolk pastry from the table and place it in the brown handbag.\npick up the bread from the table and place it in the white handbag.\npick up the orange from the table and place it in the white handbag.\npick up the orange and peach from the table and place it in the white handbag.\npick up the peach from the table and place it in the white handbag.\npick up the bread and egg yolk pastry from the table and place it in the white handbag.\npick up the egg yolk pastry from the table and place it in the white handbag.", "sub_tasks": [ "Lift the woven bag with the left gripper to open it", "Lower the woven bag with the left gripper to close it", "abnormal", "Place the egg yolk pastry into the woven bag with the right gripper", "Place the peach into the woven bag with the right gripper", "Pick up the orange with the right gripper", "Pick up the egg yolk pastry with the right gripper", "Pick up the bread with the right gripper", "end", "Place the bread into the woven bag with the right gripper", "Place the orange into the woven bag with the right gripper", "Pick up the peach with the right 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 } ], "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" ] } ], "state": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] } }, "action_space": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "RMC-AIDA-L_food_storage_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "food_storage", "dataset_uuid": null, "task_descriptions": [ "pick up the bread from the table and place it in the brown handbag.", "pick up the bread and egg yolk pastry from the table and place it in the brown handbag.", "pick up the egg yolk pastry from the table and place it in the brown handbag.", "pick up the orange from the table and place it in the brown handbag.", "pick up the orange and peach from the table and place it in the brown handbag.", "pick up the peach from the table and place it in the brown handbag.", "pick up the bread from the table and place it in the white handbag.", "pick up the bread and egg yolk pastry from the table and place it in the white handbag.", "pick up the egg yolk pastry from the table and place it in the white handbag.", "pick up the orange from the table and place it in the white handbag.", "pick up the orange and peach from the table and place it in the white handbag.", "pick up the peach from the table and place it in the white handbag." ], "scene_type": [ "home", "kitchen" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "handbag", "level1": "container", "level2": "handbag", "level3": null, "level4": null, "level5": null }, { "object_name": "bread", "level1": "food", "level2": "bread", "level3": null, "level4": null, "level5": null }, { "object_name": "egg_yolk_pastry", "level1": "food", "level2": "egg_yolk_pastry", "level3": null, "level4": null, "level5": null }, { "object_name": "orange", "level1": "fruit", "level2": "orange", "level3": null, "level4": null, "level5": null }, { "object_name": "peach", "level1": "fruit", "level2": "peach", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "realman rmc-aida-l" ], "end_effector_type": "two_finger_gripper" } }, "Cobot_Magic_the_plate_holds_the_fruit": { "dataset_name": "the_plate_holds_the_fruit", "dataset_uuid": "052c69fa-debe-4d27-9d6d-ae6afff264c2", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "fruit", "level1": "food", "level2": "fruit", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "tablecloth", "level1": "clothing", "level2": "tablecloth", "level3": null, "level4": null, "level5": null } ], "path": "Cobot_Magic_the_plate_holds_the_fruit", "video_url": "./assets/videos/Cobot_Magic_the_plate_holds_the_fruit.mp4", "thumbnail_url": "./assets/thumbnails/Cobot_Magic_the_plate_holds_the_fruit.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "8.3GB", "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": "Cobot_Magic", "codebase_version": "v2.1", "statistics": { "total_episodes": 525, "total_frames": 190455, "total_tasks": 6, "total_videos": 1575, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:524" }, "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_front_rgb": { "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "take the fruit out of the cloth bag on the blue coffee tablecloth and place them on the plate.\ntake the fruit out of the bag on the brown coffee tablecloth and place them on the plate.\ntake the fruit out of the bag on the green coffee tablecloth and place them on the plate.\ntake the fruit out of the bag on the grey coffee tablecloth and place them on the plate.\ntake the fruit out of the cloth bag on the white table and place them on a plate.\ntake the fruit out of the bag on the white checkered tablecloth and place them on the plate.", "sub_tasks": [ "use the left arm to grab a banana from the bag", "use the right arm to grab a kiwi from the bag", "use the right arm to put the kiwi into the empty plate on the left", "use the left arm to grab a pear from the bag", "use the right arm to put the apple into the empty plate on the left", "use the left arm to put the kiwi into the empty plate on the right", "use the left arm to grab a kiwi from the bag", "use the right arm to put the peach into the empty plate on the left", "use the left arm to put the mango into the empty plate on the right", "use the right arm to put the pomegranate into the empty plate on the left", "use the left arm to grab an apple from the bag", "use the left arm to put the peach into the empty plate on the right", "use the right arm to grab a pomegranate from the bag", "use the left arm to grab a mango from the bag", "use the right arm to put the mango into the empty plate on the left", "use the right arm to grab a mango from the bag", "use the right arm to grab a banana from the bag", "use the right arm to grab a peach from the bag", "use the right arm to grab an apple from the bag", "use the left arm to put the banana into the empty plate on the right", "use the left arm to grab a peach from the bag", "use the left arm to put the pomegranate into the empty plate on the right", "use the left arm to put the lemon into the empty plate on the right", "use the right arm to put the pear into the empty plate on the left", "use the right arm to put the lemon into the empty plate on the left", "use the right arm to put the banana into the empty plate on the right", "use the left arm to grab a lemon from the bag", "use the right arm to grab a pear from the bag", "use the left arm to put the apple into the empty plate on the right", "use the right arm to grab a lemon from the bag", "use the left arm to put the pear into the empty plate on the right", "use the left arm to grab a pomegranate from the bag", "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_front_rgb", "name": "cam_front_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_front_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Cobot_Magic_the_plate_holds_the_fruit_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_front_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "the_plate_holds_the_fruit", "dataset_uuid": null, "task_descriptions": [ "take fruit from cloth bag on blue tablecloth place on plate.", "take fruit from bag on brown tablecloth place on plate.", "take fruit from bag on green tablecloth place on plate.", "take fruit from bag on grey tablecloth place on plate.", "take fruit from cloth bag on white table place on plate.", "take fruit from bag on white checkered tablecloth place on plate." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "fruit", "level1": "food", "level2": "fruit", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "tablecloth", "level1": "clothing", "level2": "tablecloth", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "agilex_cobot_decoupled_magic" ], "end_effector_type": "two_finger_gripper" } }, "G1edu-u3_put_the_lemon_on_the_plate_ah": { "dataset_name": "put_the_lemon_on_the_plate_ah", "dataset_uuid": "7f32d00d-3005-45c1-90cb-9a16b5e64034", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place" ], "end_effector_type": [ "three_finger_hand" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "lemon", "level1": "fruit", "level2": "lemon", "level3": null, "level4": null, "level5": null } ], "path": "G1edu-u3_put_the_lemon_on_the_plate_ah", "video_url": "./assets/videos/G1edu-u3_put_the_lemon_on_the_plate_ah.mp4", "thumbnail_url": "./assets/thumbnails/G1edu-u3_put_the_lemon_on_the_plate_ah.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "1K-10K", "dataset_size": "20.4MB", "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": "G1edu-u3", "codebase_version": "v2.1", "statistics": { "total_episodes": 9, "total_frames": 1961, "total_tasks": 1, "total_videos": 9, "total_chunks": 1, "chunks_size": 9, "fps": 30 }, "splits": { "train": "0:8" }, "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.ego_view": { "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.state": { "dtype": "float32", "shape": [ 30 ], "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": [ 30 ], "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": "float64", "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": "Pick up the water bottle\nPick up the bread\nPick up the pink cup\nPick up the lemmon\nPick up the tissue box\nPick up the toy bear\nPlace the water bottle\nPlace the bread\nPlace the pink cup\nPlace the lemon\nPlace the lemon on the orange round plate\nPlace the tissue box\nPlace the toy bear", "sub_tasks": [ "Place the lemon on the orange plate with right gripper", "End", "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.ego_view", "name": "ego_view", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.ego_view", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channel" ] } ], "state": { "dtype": "float32", "shape": [ 30 ], "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_space": { "dtype": "float32", "shape": [ 30 ], "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "G1edu-u3_put_the_lemon_on_the_plate_ah_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.ego_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "put_the_lemon_on_the_plate_ah", "dataset_uuid": null, "task_descriptions": [ "put the lemon on the plate." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "lemon", "level1": "fruit", "level2": "lemon", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "unitree_g1" ], "end_effector_type": "three_finger_hand" } }, "Cobot_Magic_make_fruit_salad": { "dataset_name": "make_fruit_salad", "dataset_uuid": "271b7c53-966b-4ed0-a493-1efc8fd71d86", "scene_type": [ "home", "kitchen" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "basket", "level1": "container", "level2": "basket", "level3": null, "level4": null, "level5": null }, { "object_name": "apple", "level1": "fruit", "level2": "apple", "level3": null, "level4": null, "level5": null }, { "object_name": "bannana", "level1": "fruit", "level2": "bannana", "level3": null, "level4": null, "level5": null }, { "object_name": "grape", "level1": "fruit", "level2": "grape", "level3": null, "level4": null, "level5": null }, { "object_name": "mango", "level1": "fruit", "level2": "mango", "level3": null, "level4": null, "level5": null }, { "object_name": "lemon", "level1": "fruit", "level2": "lemon", "level3": null, "level4": null, "level5": null } ], "path": "Cobot_Magic_make_fruit_salad", "video_url": "./assets/videos/Cobot_Magic_make_fruit_salad.mp4", "thumbnail_url": "./assets/thumbnails/Cobot_Magic_make_fruit_salad.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "3.4GB", "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": "Cobot_Magic", "codebase_version": "v2.1", "statistics": { "total_episodes": 682, "total_frames": 178771, "total_tasks": 5, "total_videos": 2046, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:681" }, "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.state": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "action": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "timestamp": { "dtype": "float32", "shape": [ 1 ], "names": null }, "frame_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "episode_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "task_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "subtask_annotation": { "names": null, "dtype": "int32", "shape": [ 5 ] }, "scene_annotation": { "names": null, "dtype": "int32", "shape": [ 1 ] }, "eef_sim_pose_state": { "names": [ "left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_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 ] }, "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 ] }, "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 ] } }, "tasks": "put the apple in the black basket.\nput the banana in the black basket.\nput the grape in the black basket.\nput the lemon in the black basket.\nput the mango in the black basket.", "sub_tasks": [ "Place the banana in the basket with left gripper", "Place the banana in the basket with right gripper", "Static", "Place the apple in the basket with right gripper", "Grasp the grape with right gripper", "End", "Grasp the mango with left gripper", "Grasp the lemon with left gripper", "Place the mango in the basket with right gripper", "Grasp the apple with left gripper", "Place the mango on the table with right gripper", "Place the lemon in the basket with right gripper", "Grasp the lemon with right gripper", "Grasp the grape with left gripper", "Place the apple in the basket with left gripper", "Grasp the mango with right gripper", "Place the grape in the basket with left gripper", "Abnormal", "Place the mango in the basket with left gripper", "Grasp the apple with right gripper", "Grasp the banana with left gripper", "Place the lemon in the basket with left gripper", "Grasp the banana with right gripper", "Place the grape in the basket with right 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 } ], "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" ] } ], "state": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] } }, "action_space": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Cobot_Magic_make_fruit_salad_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "make_fruit_salad", "dataset_uuid": null, "task_descriptions": [ "put the apple in the black basket.", "put the banana in the black basket.", "put the grape in the black basket.", "put the lemon in the black basket.", "put the mango in the black basket." ], "scene_type": [ "home", "kitchen" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "basket", "level1": "container", "level2": "basket", "level3": null, "level4": null, "level5": null }, { "object_name": "apple", "level1": "fruit", "level2": "apple", "level3": null, "level4": null, "level5": null }, { "object_name": "bannana", "level1": "fruit", "level2": "bannana", "level3": null, "level4": null, "level5": null }, { "object_name": "grape", "level1": "fruit", "level2": "grape", "level3": null, "level4": null, "level5": null }, { "object_name": "mango", "level1": "fruit", "level2": "mango", "level3": null, "level4": null, "level5": null }, { "object_name": "lemon", "level1": "fruit", "level2": "lemon", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "agilex_cobot_magic_aloha" ], "end_effector_type": "two_finger_gripper" } }, "AIRBOT_MMK2_screw_the_bottle_cap": { "dataset_name": "screw_the_bottle_cap", "dataset_uuid": "311c08d2-fc43-43ec-afbf-f038c651ad6a", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "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": "bottle", "level1": "container", "level2": "bottle", "level3": null, "level4": null, "level5": null } ], "path": "AIRBOT_MMK2_screw_the_bottle_cap", "video_url": "./assets/videos/AIRBOT_MMK2_screw_the_bottle_cap.mp4", "thumbnail_url": "./assets/thumbnails/AIRBOT_MMK2_screw_the_bottle_cap.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "632.3MB", "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": 50, "total_frames": 16965, "total_tasks": 1, "total_videos": 200, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:49" }, "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": "Pick up the water bottle with one hand, twist off the cap with the other, and place the bottle on the table.", "sub_tasks": [ "Place the bottle on the table with the left gripper", "Grasp the bottle with the left gripper", "Unscrew the bottle cap with the right hand while holding the bottle with the left hand", "Lift the bottle up with the left gripper", "End", "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_screw_the_bottle_cap_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "screw_the_bottle_cap", "dataset_uuid": null, "task_descriptions": [ "pick up the water bottle with your left hand, twist off the cap with your right hand, and place the water bottle on the table." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "bottle", "level1": "container", "level2": "bottle", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "airbot mmk2" ], "end_effector_type": "five_finger_hand" } }, "AIRBOT_MMK2_toy_storage": { "dataset_name": "toy_storage", "dataset_uuid": "38eb75f9-27a2-42df-817f-90d75b91a582", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "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": "little_dog_doll", "level1": "toy", "level2": "little_dog_doll", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "shark_doll", "level1": "toy", "level2": "shark_doll", "level3": null, "level4": null, "level5": null }, { "object_name": "lid", "level1": "container", "level2": "lid", "level3": null, "level4": null, "level5": null }, { "object_name": "building_block", "level1": "toy", "level2": "building_block", "level3": null, "level4": null, "level5": null } ], "path": "AIRBOT_MMK2_toy_storage", "video_url": "./assets/videos/AIRBOT_MMK2_toy_storage.mp4", "thumbnail_url": "./assets/thumbnails/AIRBOT_MMK2_toy_storage.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "1.1GB", "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": 199, "total_frames": 28709, "total_tasks": 4, "total_videos": 796, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:198" }, "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": "with both hands, picked up the little dog doll on the white plate and placed it on the table.\nOne hand picked up the shark doll from the table and passed it to the other hand, which then placed it in the white lid.\nUse one hand to pick up a building block and place it in the pink plate on one side, and use the other hand to put the remaining building block into the white plate on the opposite side.\nwith both hands, he picked up the shark doll on the table and placed it in the white lid.", "sub_tasks": [ "Grasp the whale with the left gripper", "End", "Place the puppy on the table with the left and right grippers", "Grasp the puppy with the left and right grippers", "Static", "Grasp the large green cube block with the left gripper", "Place the whale on the white lid with the right gripper", "Grasp the large red cube block with the right gripper", "Place the large green cube block on the pink plate with the left gripper", "Place the large red cube block on the white lid with the right gripper", "Deliver the whale from left gripper to right 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_toy_storage_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "toy_storage", "dataset_uuid": null, "task_descriptions": [ "with both hands, picked up the little dog doll on the white plate and placed it on the table.", "the left hand picked up the shark doll on the table and handed it to the right hand, the right hand took the shark doll and placed it in the white lid.", "use your left hand to pick up the building block and place it in the pink plate on the left, and use your right hand to put the other building block into the white plate on the right.", "with both hands, he picked up the shark doll on the table and placed it in the white lid." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "little_dog_doll", "level1": "toy", "level2": "little_dog_doll", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "shark_doll", "level1": "toy", "level2": "shark_doll", "level3": null, "level4": null, "level5": null }, { "object_name": "lid", "level1": "container", "level2": "lid", "level3": null, "level4": null, "level5": null }, { "object_name": "building_block", "level1": "toy", "level2": "building_block", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "airbot mmk2" ], "end_effector_type": "five_finger_hand" } }, "AIRBOT_MMK2_mobile_car": { "dataset_name": "mobile_car", "dataset_uuid": "51dbc118-d1f9-4b26-9b28-98863d08f696", "scene_type": [ "home" ], "atomic_actions": [ "push" ], "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": "car", "level1": "toy", "level2": "car", "level3": null, "level4": null, "level5": null } ], "path": "AIRBOT_MMK2_mobile_car", "video_url": "./assets/videos/AIRBOT_MMK2_mobile_car.mp4", "thumbnail_url": "./assets/thumbnails/AIRBOT_MMK2_mobile_car.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "1K-10K", "dataset_size": "175.6MB", "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": 50, "total_frames": 6897, "total_tasks": 1, "total_videos": 200, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:49" }, "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": "Push the yellow cart away from your body with one hand.", "sub_tasks": [ "End", "Push the toy car from left to right with the left gripper", "Static", "Abnormal", "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_mobile_car_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "mobile_car", "dataset_uuid": null, "task_descriptions": [ "push the yellow car to the right with your left hand." ], "scene_type": [ "home" ], "atomic_actions": [ "push" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "car", "level1": "toy", "level2": "car", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "airbot mmk2" ], "end_effector_type": "five_finger_hand" } }, "Cobot_Magic_move_the_ball_and_the_cube_block": { "dataset_name": "move_the_ball_and_the_cube_block", "dataset_uuid": "7bcc81f3-9d87-4dbc-a06b-fb8a69efe0fb", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "ball", "level1": "toy", "level2": "ball", "level3": null, "level4": null, "level5": null }, { "object_name": "cube_block", "level1": "toy", "level2": "cube_block", "level3": null, "level4": null, "level5": null } ], "path": "Cobot_Magic_move_the_ball_and_the_cube_block", "video_url": "./assets/videos/Cobot_Magic_move_the_ball_and_the_cube_block.mp4", "thumbnail_url": "./assets/thumbnails/Cobot_Magic_move_the_ball_and_the_cube_block.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "451.4MB", "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": "Cobot_Magic", "codebase_version": "v2.1", "statistics": { "total_episodes": 98, "total_frames": 23991, "total_tasks": 1, "total_videos": 294, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:97" }, "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.state": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "action": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "timestamp": { "dtype": "float32", "shape": [ 1 ], "names": null }, "frame_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "episode_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "task_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "subtask_annotation": { "names": null, "dtype": "int32", "shape": [ 5 ] }, "scene_annotation": { "names": null, "dtype": "int32", "shape": [ 1 ] }, "eef_sim_pose_state": { "names": [ "left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_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 ] }, "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 ] }, "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 ] } }, "tasks": "Pick up the ball and place it in the circular groove above the cube.", "sub_tasks": [ "End", "Pick up the ball", "Pick up the sphere recess", "Place the ball on the table", "Place the sphere into the sphere-shaped recess", "Grasp the sphere on the table", "Place the sphere recess in the center of the table", "Place the ball into the sphere recess", "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 } ], "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" ] } ], "state": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] } }, "action_space": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Cobot_Magic_move_the_ball_and_the_cube_block_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "move_the_ball_and_the_cube_block", "dataset_uuid": null, "task_descriptions": [ "remove the small ball from the cube, move the cube and then place the small ball back on it." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "ball", "level1": "toy", "level2": "ball", "level3": null, "level4": null, "level5": null }, { "object_name": "cube_block", "level1": "toy", "level2": "cube_block", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "agilex_cobot_magic_aloha" ], "end_effector_type": "two_finger_gripper" } }, "R1_Lite_garbage_disposal": { "dataset_name": "garbage_disposal", "dataset_uuid": "3c93f53a-ad7f-446d-ab74-686039cffcdf", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "garbage", "level1": "garbage", "level2": "garbage", "level3": null, "level4": null, "level5": null }, { "object_name": "trash_can", "level1": "container", "level2": "trash_can", "level3": null, "level4": null, "level5": null } ], "path": "R1_Lite_garbage_disposal", "video_url": "./assets/videos/R1_Lite_garbage_disposal.mp4", "thumbnail_url": "./assets/thumbnails/R1_Lite_garbage_disposal.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "3.7GB", "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": "R1_Lite", "codebase_version": "v2.1", "statistics": { "total_episodes": 81, "total_frames": 70054, "total_tasks": 1, "total_videos": 243, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:80" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "pick up garbage from table and throw into trash can.", "sub_tasks": [ "Pick up the garbage", "abnromal", "Put the garbage in the trash can", "Hand it to the other hand", "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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "R1_Lite_garbage_disposal_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "garbage_disposal", "dataset_uuid": null, "task_descriptions": [ "pick up garbage from table and throw into trash can." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "garbage", "level1": "garbage", "level2": "garbage", "level3": null, "level4": null, "level5": null }, { "object_name": "trash_can", "level1": "container", "level2": "trash_can", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "galaxea_r1_lite" ], "end_effector_type": "two_finger_gripper" } }, "leju_robot_moving_parts_k": { "dataset_name": "moving_parts_k", "dataset_uuid": "062231be-de5e-4cef-b404-096085be3e9e", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "end_effector_type": [ "five_finger_hand" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "cabinet", "level1": "furniture", "level2": "cabinet", "level3": null, "level4": null, "level5": null }, { "object_name": "parts", "level1": "mechanical_parts", "level2": "parts", "level3": null, "level4": null, "level5": null } ], "path": "leju_robot_moving_parts_k", "video_url": "./assets/videos/leju_robot_moving_parts_k.mp4", "thumbnail_url": "./assets/thumbnails/leju_robot_moving_parts_k.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "28.4GB", "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": "leju_robot", "codebase_version": "v2.1", "statistics": { "total_episodes": 329, "total_frames": 468307, "total_tasks": 1, "total_videos": 987, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:328" }, "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.camera_head_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_left_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_right_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "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": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", 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"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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "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": "take the parts from the cabinet and place them on the table.", "sub_tasks": [ "Pick up the small component from the shelf.", "Grasp the white part with right gripper", "End", "Move to the initial position at the workbench.", "Insert the small component into the corresponding slot on the workbench.", "Place the white part on the table with right gripper", "Move to the table behind body", "Move the small component to the workbench.", "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.camera_head_rgb", "name": "camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_left_wrist_rgb", "name": "camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_right_wrist_rgb", "name": "camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] } }, "action_space": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "leju_robot_moving_parts_k_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.camera_head_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.camera_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.camera_right_wrist_rgb/\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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "moving_parts_k", "dataset_uuid": null, "task_descriptions": [ "take the parts from the cabinet and move to the table ,then place the parts on the table." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "cabinet", "level1": "furniture", "level2": "cabinet", "level3": null, "level4": null, "level5": null }, { "object_name": "parts", "level1": "mechanical_parts", "level2": "parts", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "leju_kuavo_4_pro" ], "end_effector_type": "five_finger_gripper" } }, "AgiBot-g1_mobile_accessory_storage_box_f": { "dataset_name": "mobile_accessory_storage_box_f", "dataset_uuid": "52a333b0-b320-467a-a555-12066d086c01", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "accessories", "level1": "electronic_products", "level2": "accessories", "level3": null, "level4": null, "level5": null } ], "path": "AgiBot-g1_mobile_accessory_storage_box_f", "video_url": "./assets/videos/AgiBot-g1_mobile_accessory_storage_box_f.mp4", "thumbnail_url": "./assets/thumbnails/AgiBot-g1_mobile_accessory_storage_box_f.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "12.2GB", "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": "AgiBot-g1", "codebase_version": "v2.1", "statistics": { "total_episodes": 68, "total_frames": 31735, "total_tasks": 1, "total_videos": 544, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:67" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "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, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_back_left_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_back_right_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_center_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_left_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_right_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "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": [ 41 ], "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open", "robot_pos_x_m", "robot_pos_y_m", "robot_pos_z_m", "robot_quat_x", "robot_quat_y", "robot_quat_z", "robot_quat_w" ] }, "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", "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_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 }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "move the position of the storage box with accessories on the table.", "sub_tasks": [ "Place the mouse and power cord into the box.", "Simultaneously pick up the mouse and power cord from the accessory packaging area.", "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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_back_left_fisheye_rgb", "name": "cam_back_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_back_right_fisheye_rgb", "name": "cam_back_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_center_fisheye_rgb", "name": "cam_high_center_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_left_fisheye_rgb", "name": "cam_high_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_right_fisheye_rgb", "name": "cam_high_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_back_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_back_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_center_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 41 ], "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open", "robot_pos_x_m", "robot_pos_y_m", "robot_pos_z_m", "robot_quat_x", "robot_quat_y", "robot_quat_z", "robot_quat_w" ] } }, "action_space": { "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", "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "AgiBot-g1_mobile_accessory_storage_box_f_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_back_left_fisheye_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_back_right_fisheye_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_high_center_fisheye_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_high_left_fisheye_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_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_high_right_fisheye_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "mobile_accessory_storage_box_f", "dataset_uuid": null, "task_descriptions": [ "move the position of the storage box with accessories on the table." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "accessories", "level1": "electronic_products", "level2": "accessories", "level3": null, "level4": null, "level5": null } ], "-operation_platform_height": null, "device_model": [ "ruantong_a2d" ], "end_effector_type": "two_finger_gripper" } }, "AIRBOT_MMK2_place_the_books": { "dataset_name": "place_the_books", "dataset_uuid": "e4617854-ddc2-4d6e-b108-2369485a9167", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place", "push" ], "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": "book", "level1": "office_supplies", "level2": "book", "level3": null, "level4": null, "level5": null }, { "object_name": "bookshelf", "level1": "container", "level2": "bookshelf", "level3": null, "level4": null, "level5": null } ], "path": "AIRBOT_MMK2_place_the_books", "video_url": "./assets/videos/AIRBOT_MMK2_place_the_books.mp4", "thumbnail_url": "./assets/thumbnails/AIRBOT_MMK2_place_the_books.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "1.1GB", "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": 20564, "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": "Push the book to one side of the table with one hand, and take it with the other hand to put it on the bookshelf.", "sub_tasks": [ "Push the book from right to left with the right gripper", "Grasp the book with the left gripper", "Place the book into the front mezzanine of the bookshelf with the left gripper", "Static", "End", "Abnormal", "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_place_the_books_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "place_the_books", "dataset_uuid": null, "task_descriptions": [ "push the book to the left side of the table with your right hand, and take it with your left hand to put it on the bookshelf." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place", "push" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "book", "level1": "office_supplies", "level2": "book", "level3": null, "level4": null, "level5": null }, { "object_name": "bookshelf", "level1": "container", "level2": "bookshelf", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "airbot mmk2" ], "end_effector_type": "five_finger_hand" } }, "AIRBOT_MMK2_pull_the_syringe_piston": { "dataset_name": "pull_the_syringe_piston", "dataset_uuid": "0dd7afd0-0119-4a2d-a6bf-0eff2463b0bd", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "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": "syringe", "level1": "medical_supplies", "level2": "syringe", "level3": null, "level4": null, "level5": null } ], "path": "AIRBOT_MMK2_pull_the_syringe_piston", "video_url": "./assets/videos/AIRBOT_MMK2_pull_the_syringe_piston.mp4", "thumbnail_url": "./assets/thumbnails/AIRBOT_MMK2_pull_the_syringe_piston.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "1K-10K", "dataset_size": "473.9MB", "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": 50, "total_frames": 9990, "total_tasks": 1, "total_videos": 200, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:49" }, "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": "Pick up the syringe with one hand, pull the piston away with the other hand, and then place the syringe back on the table with the first hand.", "sub_tasks": [ "End", "Grasp the syringe with the left gripper", "Pull the piston with the right gripper", "Lift the syringe with the left gripper", "Grasp the piston with the right gripper", "Place the syringe on the table with the left gripper", "Static", "Abnormal", "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_pull_the_syringe_piston_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "pull_the_syringe_piston", "dataset_uuid": null, "task_descriptions": [ "pick up the syringe with your left hand, pull the piston away with your right hand, and then place the syringe back on the table with your left hand." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "syringe", "level1": "medical_supplies", "level2": "syringe", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "airbot mmk2" ], "end_effector_type": "five_finger_hand" } }, "R1_Lite_move_the_position_of_the_peeler": { "dataset_name": "move_the_position_of_the_peeler", "dataset_uuid": "32cc9e19-b5a0-4f09-a124-2f042003a5ed", "scene_type": [ "home" ], "atomic_actions": [ "place", "pick", "grasp" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "pen", "level1": "office_supplies", "level2": "pen", "level3": null, "level4": null, "level5": null }, { "object_name": "banana", "level1": "fruit", "level2": "banana", "level3": null, "level4": null, "level5": null }, { "object_name": "bath_ball", "level1": "daily_necessities", "level2": "bath_ball", "level3": null, "level4": null, "level5": null }, { "object_name": "bowl", "level1": "container", "level2": "bowl", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "can", "level1": "container", "level2": "can", "level3": null, "level4": null, "level5": null }, { "object_name": "eraser", "level1": "office_supplies", "level2": "eraser", "level3": null, "level4": null, "level5": null }, { "object_name": "hard_cleanser", "level1": "daily_necessities", "level2": "hard_cleanser", "level3": null, "level4": null, "level5": null }, { "object_name": "long_bread", "level1": "food", "level2": "long_bread", "level3": null, "level4": null, "level5": null }, { "object_name": "peeler", "level1": "tool", "level2": "peeler", "level3": null, "level4": null, "level5": null }, { "object_name": "block", "level1": "toy", "level2": "block", "level3": null, "level4": null, "level5": null }, { "object_name": "duck", "level1": "toy", "level2": "duck", "level3": null, "level4": null, "level5": null }, { "object_name": "soap", "level1": "daily_necessities", "level2": "soap", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "basket", "level1": "container", "level2": "basket", "level3": null, "level4": null, "level5": null }, { "object_name": "cola", "level1": "drink", "level2": "cola", "level3": null, "level4": null, "level5": null }, { "object_name": "detergent", "level1": "daily_necessities", "level2": "detergent", "level3": null, "level4": null, "level5": null }, { "object_name": "egg_beater", "level1": "electrical_appliances", "level2": "egg_beater", "level3": null, "level4": null, "level5": null }, { "object_name": "towel", "level1": "clothing", "level2": "towel", "level3": null, "level4": null, "level5": null }, { "object_name": "orange", "level1": "fruit", "level2": "orange", "level3": null, "level4": null, "level5": null }, { "object_name": "peach", "level1": "fruit", "level2": "peach", "level3": null, "level4": null, "level5": null }, { "object_name": "marker", "level1": "office_supplies", "level2": "marker", "level3": null, "level4": null, "level5": null }, { "object_name": "rubiks_cube", "level1": "toy", "level2": "rubiks_cube", "level3": null, "level4": null, "level5": null }, { "object_name": "bread_slice", "level1": "food", "level2": "bread_slice", "level3": null, "level4": null, "level5": null }, { "object_name": "brush", "level1": "daily_necessities", "level2": "brush", "level3": null, "level4": null, "level5": null }, { "object_name": "yogurt", "level1": "drink", "level2": "yogurt", "level3": null, "level4": null, "level5": null }, { "object_name": "power_strip", "level1": "electric_appliance", "level2": "power_strip", "level3": null, "level4": null, "level5": null }, { "object_name": "milk", "level1": "drink", "level2": "milk", "level3": null, "level4": null, "level5": null }, { "object_name": "soda", "level1": "drink", "level2": "soda", "level3": null, "level4": null, "level5": null }, { "object_name": "lime", "level1": "fruit", "level2": "lime", "level3": null, "level4": null, "level5": null }, { "object_name": "coffee_capsule", "level1": "drink", "level2": "coffee_capsule", "level3": null, "level4": null, "level5": null }, { "object_name": "dish", "level1": "container", "level2": "dish", "level3": null, "level4": null, "level5": null }, { "object_name": "glass", "level1": "furniture", "level2": "glass", "level3": null, "level4": null, "level5": null }, { "object_name": "egg_yolk_pastry", "level1": "food", "level2": "egg_yolk_pastry", "level3": null, "level4": null, "level5": null }, { "object_name": "glasses_case", "level1": "daily_necessities", "level2": "glasses_case", "level3": null, "level4": null, "level5": null }, { "object_name": "gum", "level1": "daily_necessities", "level2": "gum", "level3": null, "level4": null, "level5": null }, { "object_name": "tape", "level1": "daily_necessities", "level2": "tape", "level3": null, "level4": null, "level5": null }, { "object_name": "soft_cleanser", "level1": "daily_necessities", "level2": "soft_cleanser", "level3": null, "level4": null, "level5": null }, { "object_name": "chips", "level1": "food", "level2": "chips", "level3": null, "level4": null, "level5": null }, { "object_name": "chocolate", "level1": "food", "level2": "chocolate", "level3": null, "level4": null, "level5": null }, { "object_name": "cookie", "level1": "food", "level2": "cookie", "level3": null, "level4": null, "level5": null }, { "object_name": "spoon", "level1": "tableware", "level2": "spoon", "level3": null, "level4": null, "level5": null } ], "path": "R1_Lite_move_the_position_of_the_peeler", "video_url": "./assets/videos/R1_Lite_move_the_position_of_the_peeler.mp4", "thumbnail_url": "./assets/thumbnails/R1_Lite_move_the_position_of_the_peeler.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "369.6MB", "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": "R1_Lite", "codebase_version": "v2.1", "statistics": { "total_episodes": 43, "total_frames": 10477, "total_tasks": 1, "total_videos": 172, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:42" }, "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_left_rgb": { "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_right_rgb": 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"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" ] }, "action": { "dtype": "float32", "shape": [ 18 ], "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 }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "put the peeler the designated position.", "sub_tasks": [ "Grasp the peeler with right gripper", "Static", "Grasp the peeler with left gripper", "End", "Place the peeler on the table with right gripper", "Place the peeler on the table with 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_left_rgb", "name": "cam_high_left_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_right_rgb", "name": "cam_high_right_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_left_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_right_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "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" ] } }, "action_space": { "dtype": "float32", "shape": [ 18 ], "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "R1_Lite_move_the_position_of_the_peeler_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_left_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_high_right_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "move_the_position_of_the_peeler", "dataset_uuid": null, "task_descriptions": [ "put the peeler the designated position." ], "scene_type": [ "home" ], "atomic_actions": [ "place", "pick", "grasp" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "pen", "level1": "office_supplies", "level2": "pen", "level3": null, "level4": null, "level5": null }, { "object_name": "banana", "level1": "fruit", "level2": "banana", "level3": null, "level4": null, "level5": null }, { "object_name": "bath_ball", "level1": "daily_necessities", "level2": "bath_ball", "level3": null, "level4": null, "level5": null }, { "object_name": "bowl", "level1": "container", "level2": "bowl", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "can", "level1": "container", "level2": "can", "level3": null, "level4": null, "level5": null }, { "object_name": "eraser", "level1": "office_supplies", "level2": "eraser", "level3": null, "level4": null, "level5": null }, { "object_name": "hard_cleanser", "level1": "daily_necessities", "level2": "hard_cleanser", "level3": null, "level4": null, "level5": null }, { "object_name": "long_bread", "level1": "food", "level2": "long_bread", "level3": null, "level4": null, "level5": null }, { "object_name": "peeler", "level1": "tool", "level2": "peeler", "level3": null, "level4": null, "level5": null }, { "object_name": "block", "level1": "toy", "level2": "block", "level3": null, "level4": null, "level5": null }, { "object_name": "duck", "level1": "toy", "level2": "duck", "level3": null, "level4": null, "level5": null }, { "object_name": "soap", "level1": "daily_necessities", "level2": "soap", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "basket", "level1": "container", "level2": "basket", "level3": null, "level4": null, "level5": null }, { "object_name": "cola", "level1": "drink", "level2": "cola", "level3": null, "level4": null, "level5": null }, { "object_name": "detergent", "level1": "daily_necessities", "level2": "detergent", "level3": null, "level4": null, "level5": null }, { "object_name": "egg_beater", "level1": "electrical_appliances", "level2": "egg_beater", "level3": null, "level4": null, "level5": null }, { "object_name": "towel", "level1": "clothing", "level2": "towel", "level3": null, "level4": null, "level5": null }, { "object_name": "orange", "level1": "fruit", "level2": "orange", "level3": null, "level4": null, "level5": null }, { "object_name": "peach", "level1": "fruit", "level2": "peach", "level3": null, "level4": null, "level5": null }, { "object_name": "marker", "level1": "office_supplies", "level2": "marker", "level3": null, "level4": null, "level5": null }, { "object_name": "rubiks_cube", "level1": "toy", "level2": "rubiks_cube", "level3": null, "level4": null, "level5": null }, { "object_name": "bread_slice", "level1": "food", "level2": "bread_slice", "level3": null, "level4": null, "level5": null }, { "object_name": "brush", "level1": "daily_necessities", "level2": "brush", "level3": null, "level4": null, "level5": null }, { "object_name": "yogurt", "level1": "drink", "level2": "yogurt", "level3": null, "level4": null, "level5": null }, { "object_name": "power_strip", "level1": "electric_appliance", "level2": "power_strip", "level3": null, "level4": null, "level5": null }, { "object_name": "milk", "level1": "drink", "level2": "milk", "level3": null, "level4": null, "level5": null }, { "object_name": "soda", "level1": "drink", "level2": "soda", "level3": null, "level4": null, "level5": null }, { "object_name": "lime", "level1": "fruit", "level2": "lime", "level3": null, "level4": null, "level5": null }, { "object_name": "coffee_capsule", "level1": "drink", "level2": "coffee_capsule", "level3": null, "level4": null, "level5": null }, { "object_name": "dish", "level1": "container", "level2": "dish", "level3": null, "level4": null, "level5": null }, { "object_name": "glass", "level1": "furniture", "level2": "glass", "level3": null, "level4": null, "level5": null }, { "object_name": "egg_yolk_pastry", "level1": "food", "level2": "egg_yolk_pastry", "level3": null, "level4": null, "level5": null }, { "object_name": "glasses_case", "level1": "daily_necessities", "level2": "glasses_case", "level3": null, "level4": null, "level5": null }, { "object_name": "gum", "level1": "daily_necessities", "level2": "gum", "level3": null, "level4": null, "level5": null }, { "object_name": "tape", "level1": "daily_necessities", "level2": "tape", "level3": null, "level4": null, "level5": null }, { "object_name": "soft_cleanser", "level1": "daily_necessities", "level2": "soft_cleanser", "level3": null, "level4": null, "level5": null }, { "object_name": "chips", "level1": "food", "level2": "chips", "level3": null, "level4": null, "level5": null }, { "object_name": "chocolate", "level1": "food", "level2": "chocolate", "level3": null, "level4": null, "level5": null }, { "object_name": "cookie", "level1": "food", "level2": "cookie", "level3": null, "level4": null, "level5": null }, { "object_name": "spoon", "level1": "tableware", "level2": "spoon", "level3": null, "level4": null, "level5": null } ], 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"video_url": "./assets/videos/AIRBOT_MMK2_place_the_pliers_and_wallpaper_knife.mp4", "thumbnail_url": "./assets/thumbnails/AIRBOT_MMK2_place_the_pliers_and_wallpaper_knife.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "1K-10K", "dataset_size": "230.1MB", "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": 50, "total_frames": 8236, "total_tasks": 1, "total_videos": 200, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:49" }, "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", 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"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": "Pick up the pliers with one hand and place them in the white lid, then pick up the wallpaper knife with your other hand and place it in the white lid.", "sub_tasks": [ "Static", "End", "Place the utility knife into white basket with the right gripper", "Place the plier into white basket with the left gripper", "Abnormal", "Grasp the plier with the left gripper", "Grasp the utility knife with the right 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_place_the_pliers_and_wallpaper_knife_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "place_the_pliers_and_wallpaper_knife", "dataset_uuid": null, "task_descriptions": [ "pick up the pliers with your left hand and place them in the white lid. then, with your right hand, pick up the utility knife and place it in the white lid." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "pliers", "level1": "tool", "level2": "pliers", "level3": null, "level4": null, "level5": null }, { "object_name": "lid", "level1": "container", "level2": "lid", "level3": null, "level4": null, "level5": null }, { "object_name": "utility_knife", "level1": "tool", "level2": "utility_knife", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "airbot mmk2" ], "end_effector_type": "five_finger_hand" } }, "RMC-AIDA-L_fold_shirt": { "dataset_name": "fold_shirt", "dataset_uuid": "bbe55f1a-041d-4956-b4a9-17c9457510aa", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "fold", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "shirt", "level1": "clothing", "level2": "shirt", "level3": null, "level4": null, "level5": null } ], "path": "RMC-AIDA-L_fold_shirt", "video_url": "./assets/videos/RMC-AIDA-L_fold_shirt.mp4", "thumbnail_url": "./assets/thumbnails/RMC-AIDA-L_fold_shirt.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "1M-10M", "dataset_size": "27.9GB", "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": "RMC-AIDA-L", "codebase_version": "v2.1", "statistics": { "total_episodes": 1450, "total_frames": 3305009, "total_tasks": 6, "total_videos": 4350, "total_chunks": 2, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:1449" }, "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.state": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] }, "action": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "the black shirt is place with the back facing up, fold the black shirt into a square shape.\nthe black shirt is place with the front facing upwards, fold the black shirt into a square shape.\nthe blue shirt is place with the back facing up, fold the black shirt into a square shape.\nthe blue shirt is place with the front facing upwards, fold the black shirt into a square shape.\nthe navygreen shirt is place with the front facing upwards, fold the black shirt into a square shape.\nthe navygreen shirt is place with the back facing up, fold the black shirt into a square shape.", "sub_tasks": [ "Grab the bottom left corner with your left hand", "Fold the bottom left sleeve with your left hand", "Fold the bottom right sleeve to the right", "Fold the clothes to the right", "Grab the top left corner with your left hand", "Fold the clothes to the left", "Push the clothes to the left", "Press the middle of the clothes with your right hand", "end", "Push the clothes with your left hand", "Discard", "Grab the top right corner with your right hand", "Pull the clothes with your right hand", "Fold the clothes with your left hand", "Fold the clothes with your right hand", "Fold the bottom right sleeve with your right hand", "Grab the bottom right corner with your right hand", "Pull the clothes with your left hand", "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 } ], "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" ] } ], "state": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] } }, "action_space": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "RMC-AIDA-L_fold_shirt_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│ └── chunk-001/\n│ ├── episode_001000.parquet\n│ ├── episode_001001.parquet\n│ ├── episode_001002.parquet\n│ ├── episode_001003.parquet\n│ ├── episode_001004.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 └── chunk-001/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_001000.mp4\n ├── episode_001001.mp4\n ├── episode_001002.mp4\n ├── episode_001003.mp4\n ├── episode_001004.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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "fold_shirt", "dataset_uuid": null, "task_descriptions": [ "the black shirt is place with the back facing up, fold the black shirt into a square shape.", "the black shirt is place with the front facing upwards, fold the black shirt into a square shape.", "the blue shirt is place with the back facing up, fold the black shirt into a square shape.", "the blue shirt is place with the front facing upwards, fold the black shirt into a square shape.", "the navygreen shirt is place with the back facing up, fold the black shirt into a square shape.", "the navygreen shirt is place with the front facing upwards, fold the black shirt into a square shape." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "fold", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "shirt", "level1": "clothing", "level2": "shirt", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "realman_rmc_aidal" ], "end_effector_type": "two_finger_gripper" } }, "Cobot_Magic_water_bottle_storage": { "dataset_name": "water_bottle_storage", "dataset_uuid": "d77bcbca-f9c3-445e-b349-2c6e1470f4b0", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place", "open", "close" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "drawer", "level1": "furniture", "level2": "drawer", "level3": null, "level4": null, "level5": null }, { "object_name": "water_bottle", "level1": "container", "level2": "water_bottle", "level3": null, "level4": null, "level5": null } ], "path": "Cobot_Magic_water_bottle_storage", "video_url": "./assets/videos/Cobot_Magic_water_bottle_storage.mp4", "thumbnail_url": "./assets/thumbnails/Cobot_Magic_water_bottle_storage.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "1.0GB", "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": "Cobot_Magic", "codebase_version": "v2.1", "statistics": { "total_episodes": 100, "total_frames": 56495, "total_tasks": 1, "total_videos": 300, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:99" }, "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.state": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "action": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "timestamp": { "dtype": "float32", "shape": [ 1 ], "names": null }, "frame_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "episode_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "task_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "subtask_annotation": { "names": null, "dtype": "int32", "shape": [ 5 ] }, "scene_annotation": { "names": null, "dtype": "int32", "shape": [ 1 ] }, "eef_sim_pose_state": { "names": [ "left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_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 ] }, "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 ] }, "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 ] } }, "tasks": "place the water bottle into the drawer.", "sub_tasks": [ "End", "Place the water bottle inside the drawer.", "Close the drawer.", "Place the water bottle in the top drawer with the left gripper", "Close the top drawer with the right gripper", "Open the top drawer with the right gripper", "Open the drawer.", "Pick up the water bottle 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 } ], "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" ] } ], "state": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] } }, "action_space": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Cobot_Magic_water_bottle_storage_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "water_bottle_storage", "dataset_uuid": null, "task_descriptions": [ "place the water bottle into the drawer." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place", "open", "close" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "drawer", "level1": "furniture", "level2": "drawer", "level3": null, "level4": null, "level5": null }, { "object_name": "water_bottle", "level1": "container", "level2": "water_bottle", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "agilex_cobot_decoupled_magic" ], "end_effector_type": "two_finger_gripper" } }, "R1_Lite_make_breakfast": { "dataset_name": "make_breakfast", "dataset_uuid": "398b647f-5d05-4f3c-8367-2d7077c8c9fe", "scene_type": [ "home", "restaurant" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "bread", "level1": "food", "level2": "bread", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "eggs", "level1": "food", "level2": "eggs", "level3": null, "level4": null, "level5": null }, { "object_name": "bowl", "level1": "container", "level2": "bowl", "level3": null, "level4": null, "level5": null }, { "object_name": "hot_water_bottle", "level1": "electric_appliance", "level2": "hot_water_bottle", "level3": null, "level4": null, "level5": null }, { "object_name": "cup", "level1": "container", "level2": "cup", "level3": null, "level4": null, "level5": null }, { "object_name": "bread_machine", "level1": "electric_appliance", "level2": "bread_machine", "level3": null, "level4": null, "level5": null }, { "object_name": "fruit", "level1": "food", "level2": "fruir", "level3": null, "level4": null, "level5": null } ], "path": "R1_Lite_make_breakfast", "video_url": "./assets/videos/R1_Lite_make_breakfast.mp4", "thumbnail_url": "./assets/thumbnails/R1_Lite_make_breakfast.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "6.2GB", "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": "R1_Lite", "codebase_version": "v2.1", "statistics": { "total_episodes": 45, "total_frames": 105680, "total_tasks": 1, "total_videos": 135, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:44" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "bake bread arrange fruits eggs pour water from thermos.", "sub_tasks": [ "Put the egg in the bowl", "Put the bread slices in the toaster", "Put the kettle back", "Pour water into a cup", "abnormal", "Put the baked bread on a plate", "Use a bread toaster", "Put the fruit on a plate", "Pick up the kettle", "Pick up the egg", "Pick up the bread slice", "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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "R1_Lite_make_breakfast_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "make_breakfast", "dataset_uuid": null, "task_descriptions": [ "bake bread arrange eggs pour water from thermos." ], "scene_type": [ "home", "restaurant" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "bread", "level1": "food", "level2": "bread", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "eggs", "level1": "food", "level2": "eggs", "level3": null, "level4": null, "level5": null }, { "object_name": "bowl", "level1": "container", "level2": "bowl", "level3": null, "level4": null, "level5": null }, { "object_name": "hot_water_bottle", "level1": "electric_appliance", "level2": "hot_water_bottle", "level3": null, "level4": null, "level5": null }, { "object_name": "cup", "level1": "container", "level2": "cup", "level3": null, "level4": null, "level5": null }, { "object_name": "bread_machine", "level1": "electric_appliance", "level2": "bread_machine", "level3": null, "level4": null, "level5": null }, { "object_name": "fruit", "level1": "food", "level2": "fruir", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "galaxea_r1_lite" ], "end_effector_type": "two_finger_gripper" } }, "Cobot_Magic_move_the_small_ball": { "dataset_name": "move_the_small_ball", "dataset_uuid": "d3bee16b-97e7-4e2b-ae25-346189946b81", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "spherical_object", "level1": "toy", "level2": "spherical_object", "level3": null, "level4": null, "level5": null } ], "path": "Cobot_Magic_move_the_small_ball", "video_url": "./assets/videos/Cobot_Magic_move_the_small_ball.mp4", "thumbnail_url": "./assets/thumbnails/Cobot_Magic_move_the_small_ball.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "404.6MB", "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": "Cobot_Magic", "codebase_version": "v2.1", "statistics": { "total_episodes": 100, "total_frames": 25598, "total_tasks": 1, "total_videos": 300, "total_chunks": 1, "chunks_size": 1000, "fps": 50 }, "splits": { "train": "0:99" }, "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": 50, "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": 50, "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": 50, "video.channels": 3, "has_audio": false } }, "observation.state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "Grasp the spherical object and relocate it to the opposite side.", "sub_tasks": [ "Grasp the spherical object on the right side", "Place the picked object on the left side of the table", "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": 50, "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": 50, "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": 50, "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" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Cobot_Magic_move_the_small_ball_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "move_the_small_ball", "dataset_uuid": null, "task_descriptions": [ "grasp the spherical object and relocate it to the left side." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "spherical_object", "level1": "toy", "level2": "spherical_object", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "agilex_cobot_decoupled_magic" ], "end_effector_type": "two_finger_gripper" } }, "leju_robot_hotel_services_d": { "dataset_name": "hotel_services_d", "dataset_uuid": "83fb3fa9-72ea-4860-a22f-c6a5a597df39", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "five_finger_hand" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "card", "level1": "nfc", "level2": "card", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "card_reader", "level1": "electronic_products", "level2": "card_reader", "level3": null, "level4": null, "level5": null } ], "path": "leju_robot_hotel_services_d", "video_url": "./assets/videos/leju_robot_hotel_services_d.mp4", "thumbnail_url": "./assets/thumbnails/leju_robot_hotel_services_d.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "15.1GB", "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": "leju_robot", "codebase_version": "v2.1", "statistics": { "total_episodes": 324, "total_frames": 224505, "total_tasks": 1, "total_videos": 972, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:323" }, "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.camera_head_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_left_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_right_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "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": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] }, "action": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "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": "take out the card place it on the sensor for recognition and then transfer it.", "sub_tasks": [ "Hand the room key to the person.", "Place the ID card on the card reader.", "Take the ID card from the person's hand.", "Pick up the room key from the key card box.", "Hand the ID card to the person.", "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.camera_head_rgb", "name": "camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_left_wrist_rgb", "name": "camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_right_wrist_rgb", "name": "camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] } }, "action_space": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "leju_robot_hotel_services_d_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.camera_head_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.camera_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.camera_right_wrist_rgb/\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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "hotel_services_d", "dataset_uuid": null, "task_descriptions": [ "take identity card and place it on card reader then give identity card and room card to human." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "card", "level1": "nfc", "level2": "card", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "card_reader", "level1": "electronic_products", "level2": "card_reader", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "leju_kuavo_4_pro" ], "end_effector_type": "five_finger_gripper" } }, "RMC-AIDA-L_place_towel": { "dataset_name": "place_towel", "dataset_uuid": "666a0109-3399-4955-b2fb-66509139637f", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "towel", "level1": "clothing", "level2": "towel", "level3": null, "level4": null, "level5": null } ], "path": "RMC-AIDA-L_place_towel", "video_url": "./assets/videos/RMC-AIDA-L_place_towel.mp4", "thumbnail_url": "./assets/thumbnails/RMC-AIDA-L_place_towel.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "4.8GB", "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": "RMC-AIDA-L", "codebase_version": "v2.1", "statistics": { "total_episodes": 398, "total_frames": 281308, "total_tasks": 2, "total_videos": 1194, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:397" }, "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.state": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] }, "action": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "pick up the towel from the storage box and lay it flat on the black tablecloth.\npick up the towel from the storage box and lay it flat on the table.", "sub_tasks": [ "End", "Spread the towel flat with the left gripper", "Abnormal", "Pick up a towel with the left gripper", "Static", "Pick up a towel with the right gripper", "Spread the towel flat with the right 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 } ], "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" ] } ], "state": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] } }, "action_space": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "RMC-AIDA-L_place_towel_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "place_towel", "dataset_uuid": null, "task_descriptions": [ "pick up the towel from the storage box and lay it flat on the table.", "pick up the towel from the storage box and lay it flat on the black tablecloth." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "towel", "level1": "clothing", "level2": "towel", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "realman_rmc_aidal" ], "end_effector_type": "two_finger_gripper" } }, "AIRBOT_MMK2_egg_storage": { "dataset_name": "egg_storage", "dataset_uuid": "63a0fe6b-923c-4ac5-9b65-501c2a9b8c99", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "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": "bowl", "level1": "container", "level2": "bowl", "level3": null, "level4": null, "level5": null }, { "object_name": "egg", "level1": "food", "level2": "egg", "level3": null, "level4": null, "level5": null }, { "object_name": "egg_box", "level1": "food", "level2": "egg_box", "level3": null, "level4": null, "level5": null } ], "path": "AIRBOT_MMK2_egg_storage", "video_url": "./assets/videos/AIRBOT_MMK2_egg_storage.mp4", "thumbnail_url": "./assets/thumbnails/AIRBOT_MMK2_egg_storage.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "525.2MB", "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": 58, "total_frames": 13597, "total_tasks": 2, "total_videos": 232, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:57" }, "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": "Put the egg on one side in the bowl with one hand and the egg on the other side in the bowl with your other hand.\nPick up the egg from the table with one hand and put it in the egg box.", "sub_tasks": [ "Grasp the egg with the left gripper", "Grasp the egg with the right gripper", "Abnormal", "End", "Place the egg into bowl with the left gripper", "Place the egg into bowl with the right 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_egg_storage_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "egg_storage", "dataset_uuid": null, "task_descriptions": [ "put the egg on the left in the bowl with your left hand and the egg on the right in the bowl with your right hand.", "pick up the egg from the table with your right hand and put it in the egg box." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "bowl", "level1": "container", "level2": "bowl", "level3": null, "level4": null, "level5": null }, { "object_name": "egg", "level1": "food", "level2": "egg", "level3": null, "level4": null, "level5": null }, { "object_name": "egg_box", "level1": "food", "level2": "egg_box", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "airbot mmk2" ], "end_effector_type": "five_finger_hand" } }, "R1_Lite_pick_up_and_store_items": { "dataset_name": "pick_up_and_store_items", "dataset_uuid": "ce4cb36f-2a3e-45e1-80b7-e559203fb5c3", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place", "pull", "push" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "drawer", "level1": "container", "level2": "drawer", "level3": null, "level4": null, "level5": null }, { "object_name": "tissue_paper", "level1": "daily_necessities", "level2": "tissue_paper", "level3": null, "level4": null, "level5": null }, { "object_name": "disposable_slippers", "level1": "daily_necessities", "level2": "disposable_slippers", "level3": null, "level4": null, "level5": null }, { "object_name": "tape", "level1": "tool", "level2": "tape", "level3": null, "level4": null, "level5": null }, { "object_name": "solid_beverage", "level1": "beverage", "level2": "solid_beverage", "level3": null, "level4": null, "level5": null }, { "object_name": "shorts", "level1": "clothing", "level2": "shorts", "level3": null, "level4": null, "level5": null }, { "object_name": "roll_paper", "level1": "daily_necessities", "level2": "roll_paper", "level3": null, "level4": null, "level5": null }, { "object_name": "t_shirt", "level1": "cloth", "level2": "t_shirt", "level3": null, "level4": null, "level5": null }, { "object_name": "mineral_water", "level1": "drink", "level2": "mineral_water", "level3": null, "level4": null, "level5": null } ], "path": "R1_Lite_pick_up_and_store_items", "video_url": "./assets/videos/R1_Lite_pick_up_and_store_items.mp4", "thumbnail_url": "./assets/thumbnails/R1_Lite_pick_up_and_store_items.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "5.8GB", "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": "R1_Lite", "codebase_version": "v2.1", "statistics": { "total_episodes": 108, "total_frames": 125588, "total_tasks": 1, "total_videos": 324, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:107" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "Open the drawer, then close the drawer.", "sub_tasks": [ "Place the tissue on the table", "Place the disposable slippers on the table", "Take out the tissue from the drawer", "Put the slippers in the drawer", "Take out the mineral water from the drawer", "Open the drawer with the both gripper", "Place the roll paper on the table", "Place the shorts on the table", "Place the adhesive tape on the table", "Take out the disposable slippers from the drawer", "Place the solid drinks on the table", "Take out the adhesive tape from the drawer", "Put the shorts in the drawer", "Close the drawer with the both gripper", "End", "Pick up the tissue on the table", "Put the tissue in the drawer", "Take out the shorts from the drawer", "Pick up the T-shirt on the table", "Take out the solid drinks from the drawer", "Pick up the mineral water on the table", "Put the mineral water in the drawer", "Pick up the adhesive tape on the table", "Take out the roll paper from the drawer", "Close the drawer", "Open the drawer", "Take out the T-shirt from the drawer", "Put the disposable slippers in the drawer", "Put the adhesive tape in the drawer", "Take the paper out of the drawer and put it on the table", "Put the solid drinks in the drawer", "Place the mineral water on the table", "Put the T-shirt in the drawer", "abnormal", "Place the T-shirt on the table", "Pick up the solid drinks on the table", "Pick up the disposable slippers on the table", "Pick up the shorts on the table", "Pick up the roll paper on the table", "Put the roll paper in the drawer", "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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "R1_Lite_pick_up_and_store_items_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "pick_up_and_store_items", "dataset_uuid": null, "task_descriptions": [ "store table items in drawer then place them out close drawer." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place", "pull", "push" ], "objects": [ { "object_name": "drawer", "level1": "container", "level2": "drawer", "level3": null, "level4": null, "level5": null }, { "object_name": "tissue_paper", "level1": "daily_necessities", "level2": "tissue_paper", "level3": null, "level4": null, "level5": null }, { "object_name": "disposable_slippers", "level1": "daily_necessities", "level2": "disposable_slippers", "level3": null, "level4": null, "level5": null }, { "object_name": "tape", "level1": "tool", "level2": "tape", "level3": null, "level4": null, "level5": null }, { "object_name": "solid_beverage", "level1": "beverage", "level2": "solid_beverage", "level3": null, "level4": null, "level5": null }, { "object_name": "shorts", "level1": "clothing", "level2": "shorts", "level3": null, "level4": null, "level5": null }, { "object_name": "roll_paper", "level1": "daily_necessities", "level2": "roll_paper", "level3": null, "level4": null, "level5": null }, { "object_name": "t_shirt", "level1": "cloth", "level2": "t_shirt", "level3": null, "level4": null, "level5": null }, { "object_name": "mineral_water", "level1": "drink", "level2": "mineral_water", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "galaxea_r1_lite" ], "end_effector_type": "two_finger_gripper" } }, "Cobot_Magic_turn_off_the_desk_lamp": { "dataset_name": "turn_off_the_desk_lamp", "dataset_uuid": "1f49016c-b7ec-43a1-aa91-d6f484617a5f", "scene_type": [ "home" ], "atomic_actions": [ "pressbutton" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "desk_lamp", "level1": "daily_necessities", "level2": "desk_lamp", "level3": null, "level4": null, "level5": null }, { "object_name": "tablecloth", "level1": "clothing", "level2": "tablecloth", "level3": null, "level4": null, "level5": null } ], "path": "Cobot_Magic_turn_off_the_desk_lamp", "video_url": "./assets/videos/Cobot_Magic_turn_off_the_desk_lamp.mp4", "thumbnail_url": "./assets/thumbnails/Cobot_Magic_turn_off_the_desk_lamp.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "8.4GB", "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": "Cobot_Magic", "codebase_version": "v2.1", "statistics": { "total_episodes": 398, "total_frames": 121821, "total_tasks": 6, "total_videos": 1194, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:397" }, "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_front_rgb": { "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "turn off the desk lamp on the blue coffee tablecloth by hand.\nturn off the desk lamp on the light coffee tablecloth by hand.\nturn off the desk lamp on the green coffee tablecloth by hand.\nturn off the desk lamp on the grey coffee tablecloth by hand.\nturn off the table lamp on the pink coffee tablecloth by hand.\nturn off the desk lamp on the white desktop by hand.", "sub_tasks": [ "use the left arm to press the button switch on the lamp holder", "use the right arm to press the button switch on the lamp holder", "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_front_rgb", "name": "cam_front_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_front_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Cobot_Magic_turn_off_the_desk_lamp_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_front_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "turn_off_the_desk_lamp", "dataset_uuid": null, "task_descriptions": [ "turn off the desk lamp on the blue coffee tablecloth by hand.", "turn off the desk lamp on the light coffee tablecloth by hand.", "turn off the desk lamp on the green coffee tablecloth by hand.", "turn off the desk lamp on the grey coffee tablecloth by hand.", "turn off the table lamp on the pink coffee tablecloth by hand.", "turn off the desk lamp on the white desktop by hand." ], "scene_type": [ "home" ], "atomic_actions": [ "pressbutton" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "desk_lamp", "level1": "daily_necessities", "level2": "desk_lamp", "level3": null, "level4": null, "level5": null }, { "object_name": "tablecloth", "level1": "clothing", "level2": "tablecloth", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "agilex_cobot_magic_aloha" ], "end_effector_type": "two_finger_gripper" } }, "R1_Lite_dispose_of_leftover_food": { "dataset_name": "dispose_of_leftover_food", "dataset_uuid": "b7ae3dcc-5b70-445f-b473-3d83772d3b1b", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place", "flip" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "bowl", "level1": "container", "level2": "bowl", "level3": null, "level4": null, "level5": null }, { "object_name": "garbage_bin", "level1": "container", "level2": "garbage_bin", "level3": null, "level4": null, "level5": null }, { "object_name": "leftovers", "level1": "garbage", "level2": "leftovers", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null } ], "path": "R1_Lite_dispose_of_leftover_food", "video_url": "./assets/videos/R1_Lite_dispose_of_leftover_food.mp4", "thumbnail_url": "./assets/thumbnails/R1_Lite_dispose_of_leftover_food.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "7.5GB", "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": "R1_Lite", "codebase_version": "v2.1", "statistics": { "total_episodes": 127, "total_frames": 135632, "total_tasks": 1, "total_videos": 381, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:126" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "pour leftovers from bowl or plate into trash can put back.", "sub_tasks": [ "Move the bowl over the trash can", "Pour the leftover food from the plate into the trash can", "Pour the leftover food from the bowl into the trash can", "Pick up the plate with leftover food", "Put the bowl back to the table", "Move the plate over the trash can", "Pick up the bowl with leftover food", "Put the plate back to the table", "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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "R1_Lite_dispose_of_leftover_food_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "dispose_of_leftover_food", "dataset_uuid": null, "task_descriptions": [ "pour leftovers from bowl or plate into trash can put back." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place", "flip" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "bowl", "level1": "container", "level2": "bowl", "level3": null, "level4": null, "level5": null }, { "object_name": "garbage_bin", "level1": "container", "level2": "garbage_bin", "level3": null, "level4": null, "level5": null }, { "object_name": "leftovers", "level1": "garbage", "level2": "leftovers", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "galaxea_r1_lite" ], "end_effector_type": "two_finger_gripper" } }, "G1edu-u3_pick_up_the_bottled_water_b": { "dataset_name": "pick_up_the_bottled_water_b", "dataset_uuid": "fed7136f-3c38-4756-81e4-f9e2dd2eaad5", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick" ], "end_effector_type": [ "three_finger_hand" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "bottle", "level1": "container", "level2": "bottle", "level3": null, "level4": null, "level5": null }, { "object_name": "water", "level1": "drink", "level2": "water", "level3": null, "level4": null, "level5": null } ], "path": "G1edu-u3_pick_up_the_bottled_water_b", "video_url": "./assets/videos/G1edu-u3_pick_up_the_bottled_water_b.mp4", "thumbnail_url": "./assets/thumbnails/G1edu-u3_pick_up_the_bottled_water_b.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "125.2MB", "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": "G1edu-u3", "codebase_version": "v2.1", "statistics": { "total_episodes": 30, "total_frames": 10067, "total_tasks": 1, "total_videos": 30, "total_chunks": 1, "chunks_size": 31, "fps": 30 }, "splits": { "train": "0:29" }, "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.ego_view": { "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.state": { "dtype": "float32", "shape": [ 30 ], "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": [ 30 ], "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": "float64", "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": "Pick up the red apple\nPick up the red apple\nPick up the water bottle\nPick up the water bottle\nPick up the white cup\nPick up the lemon\nPlace the red apple\nPlace the red apple in the basket\nPlace the red apple on the blue rectangle plate\nPlace the red apple on the orange round plate\nPlace the water bottle\nPlace the water bottle\nPlace the white cup\nPlace the lemon on the blue rectangle plate\nPlace the lemon on the orange round plate", "sub_tasks": [ "Grasp the water bottle and lift it to the center of the view with right gripper", "Grasp the water bottle and lift it to the center of the view with left gripper", "End", "Abnormal", "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.ego_view", "name": "ego_view", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.ego_view", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channel" ] } ], "state": { "dtype": "float32", "shape": [ 30 ], "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_space": { "dtype": "float32", "shape": [ 30 ], "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "G1edu-u3_pick_up_the_bottled_water_b_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.ego_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "pick_up_the_bottled_water_b", "dataset_uuid": null, "task_descriptions": [ "pick up the water bottle on the table." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "bottle", "level1": "container", "level2": "bottle", "level3": null, "level4": null, "level5": null }, { "object_name": "water", "level1": "drink", "level2": "water", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "unitree_g1" ], "end_effector_type": "three_finger_hand" } }, "R1_Lite_cover_the_pot_lid": { "dataset_name": "cover_the_pot_lid", "dataset_uuid": "41489668-9cf7-44d4-ba77-a691084c63fe", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "steamer_cage", "level1": "container", "level2": "steamer_cage", "level3": null, "level4": null, "level5": null }, { "object_name": "steamer_lid", "level1": "daily_necessities", "level2": "steamer_lid", "level3": null, "level4": null, "level5": null } ], "path": "R1_Lite_cover_the_pot_lid", "video_url": "./assets/videos/R1_Lite_cover_the_pot_lid.mp4", "thumbnail_url": "./assets/thumbnails/R1_Lite_cover_the_pot_lid.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "4.1GB", "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": "R1_Lite", "codebase_version": "v2.1", "statistics": { "total_episodes": 100, "total_frames": 65358, "total_tasks": 1, "total_videos": 300, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:99" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "pick up the lid of the steamer and place it on the steamer.", "sub_tasks": [ "Pick up the steamer", "Put the steamer", "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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "R1_Lite_cover_the_pot_lid_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "cover_the_pot_lid", "dataset_uuid": null, "task_descriptions": [ "pick up the lid of the steamer and place it on the steamer." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "steamer_cage", "level1": "container", "level2": "steamer_cage", "level3": null, "level4": null, "level5": null }, { "object_name": "steamer_lid", "level1": "daily_necessities", "level2": "steamer_lid", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "galaxea_r1_lite" ], "end_effector_type": "two_finger_gripper" } }, "Cobot_Magic_classification_of_fruits_and_vegetables_a": { "dataset_name": "classification_of_fruits_and_vegetables_a", "dataset_uuid": "792e3e06-8f5e-444d-9a30-740d091a9210", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "tablecloth", "level1": "clothing", "level2": "tablecloth", "level3": null, "level4": null, "level5": null }, { "object_name": "white_carrot", "level1": "vegetables", "level2": "white_carrot", "level3": null, "level4": null, "level5": null }, { "object_name": "eggplant", "level1": "vegetables", "level2": "eggplant", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null } ], "path": "Cobot_Magic_classification_of_fruits_and_vegetables_a", "video_url": "./assets/videos/Cobot_Magic_classification_of_fruits_and_vegetables_a.mp4", "thumbnail_url": "./assets/thumbnails/Cobot_Magic_classification_of_fruits_and_vegetables_a.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "10.4GB", "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": "Cobot_Magic", "codebase_version": "v2.1", "statistics": { "total_episodes": 300, "total_frames": 187645, "total_tasks": 3, "total_videos": 900, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:299" }, "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_front_rgb": { "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "Put different types of vegetables on the plate.\nPut different types of vegetables on the plate.\nPut different types of vegetables on the plate.", "sub_tasks": [ "use the right arm to grab a chayote and put it into the right plate", "use the left arm to grab a carrot and put it into the right plate", "Grab a potato with your right arm and put it on the right plate", "Grab a potato with your right arm and put it on the left plate", "use the left arm to grab a chayote and put it into the left plate", "use the left arm to grab a radish and put it into the right plate", "Grab a potato with your left arm and put it on the right plate", "use the left arm to grab a chayote and put it into the right plate", "Grab the chayote with your right arm and put it on the left plate", "use the right arm to grab a carrot and put it into the left plate", "use the left arm to grab a carrot and put it into the left plate", "Grab a potato with your left arm and put it on the left plate", "use the right arm to grab a chayote and put it into the left plate", "use the right arm to grab a carrot and put it into the right plate", "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_front_rgb", "name": "cam_front_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_front_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Cobot_Magic_classification_of_fruits_and_vegetables_a_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_front_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "classification_of_fruits_and_vegetables_a", "dataset_uuid": null, "task_descriptions": [ "on blue tablecloth alternately place white carrots eggplants in plates of different colors.", "on brown tablecloth alternately place white carrots eggplants in plates of different colors.", "on green tablecloth alternately place white carrots eggplants in plates of different colors.", "on pink tablecloth alternately place white carrots eggplants in plates of different colors.", "on white tablecloth alternately place white carrots eggplants in plates of different colors.", "on white black tablecloth alternately place white carrots eggplants in plates of different colors." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "tablecloth", "level1": "clothing", "level2": "tablecloth", "level3": null, "level4": null, "level5": null }, { "object_name": "white_carrot", "level1": "vegetables", "level2": "white_carrot", "level3": null, "level4": null, "level5": null }, { "object_name": "eggplant", "level1": "vegetables", "level2": "eggplant", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "agilex_cobot_magic_aloha" ], "end_effector_type": "two_finger_gripper" } }, "Split_aloha_basket_storage_egg_yolk_pastry": { "dataset_name": "basket_storage_egg_yolk_pastry", "dataset_uuid": "c5e8e66a-392d-4197-8236-7a50365c0ed3", "scene_type": [ "home", "kitchen" ], "atomic_actions": [ "grasp", "place", "pick" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "egg_yolk_pastry", "level1": "food", "level2": "egg_yolk_pastry", "level3": null, "level4": null, "level5": null }, { "object_name": "basket", "level1": "container", "level2": "basket", "level3": null, "level4": null, "level5": null } ], "path": "Split_aloha_basket_storage_egg_yolk_pastry", "video_url": "./assets/videos/Split_aloha_basket_storage_egg_yolk_pastry.mp4", "thumbnail_url": "./assets/thumbnails/Split_aloha_basket_storage_egg_yolk_pastry.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "6.7GB", "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": "Split_aloha", "codebase_version": "v2.1", "statistics": { "total_episodes": 629, "total_frames": 254419, "total_tasks": 1, "total_videos": 1887, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:628" }, "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.state": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "action": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "timestamp": { "dtype": "float32", "shape": [ 1 ], "names": null }, "frame_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "episode_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "task_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "subtask_annotation": { "names": null, "dtype": "int32", "shape": [ 5 ] }, "scene_annotation": { "names": null, "dtype": "int32", "shape": [ 1 ] }, "eef_sim_pose_state": { "names": [ "left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_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 ] }, "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 ] }, "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 ] } }, "tasks": "pick up the egg yolk pastry and put it into the basket.", "sub_tasks": [ "Grasp the basket with left gripper", "Static", "Grasp egg yolk pastry with right gripper", "End", "Abnormal", "Place the egg yolk pastry in the basket with right gripper", "Place the basket in the center of view with 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 } ], "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" ] } ], "state": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] } }, "action_space": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Split_aloha_basket_storage_egg_yolk_pastry_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "basket_storage_egg_yolk_pastry", "dataset_uuid": null, "task_descriptions": [ "pick up the egg yolk pastry and put it into the basket.", "put the basket in the center of the table." ], "scene_type": [ "home", "kitchen" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "egg_yolk_pastry", "level1": "food", "level2": "egg_yolk_pastry", "level3": null, "level4": null, "level5": null }, { "object_name": "basket", "level1": "container", "level2": "basket", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "agilex_cobot_decoupled_magic" ], "end_effector_type": "two_finger_gripper" } }, "G1edu-u3_little_tray_storage_apple_b": { "dataset_name": "little_tray_storage_apple_b", "dataset_uuid": "eddea5f5-2b14-472e-a8a5-7cdb15b1e6b5", "scene_type": [ "home" ], "atomic_actions": [ "pick", "place" ], "end_effector_type": [ "three_finger_hand" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "apple", "level1": "fruit", "level2": "apple", "level3": null, "level4": null, "level5": null }, { "object_name": "tray", "level1": "container", "level2": "tray", "level3": null, "level4": null, "level5": null } ], "path": "G1edu-u3_little_tray_storage_apple_b", "video_url": "./assets/videos/G1edu-u3_little_tray_storage_apple_b.mp4", "thumbnail_url": "./assets/thumbnails/G1edu-u3_little_tray_storage_apple_b.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "1K-10K", "dataset_size": "51.2MB", "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": "G1edu-u3", "codebase_version": "v2.1", "statistics": { "total_episodes": 15, "total_frames": 3928, "total_tasks": 1, "total_videos": 15, "total_chunks": 1, "chunks_size": 15, "fps": 30 }, "splits": { "train": "0:14" }, "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.ego_view": { "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.state": { "dtype": "float32", "shape": [ 30 ], "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": [ 30 ], "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": "float64", "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": "Pick up the red apple\nPick up the red apple\nPick up the water bottle\nPick up the water bottle\nPick up the white cup\nPick up the lemon\nPlace the red apple\nPlace the red apple in the basket\nPlace the red apple on the blue rectangle plate\nPlace the red apple on the orange round plate\nPlace the water bottle\nPlace the water bottle\nPlace the white cup\nPlace the lemon on the blue rectangle plate\nPlace the lemon on the orange round plate", "sub_tasks": [ "Place the apple on the orange plate with right gripper", "End", "Place the apple on the orange plate with 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.ego_view", "name": "ego_view", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.ego_view", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channel" ] } ], "state": { "dtype": "float32", "shape": [ 30 ], "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_space": { "dtype": "float32", "shape": [ 30 ], "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "G1edu-u3_little_tray_storage_apple_b_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.ego_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "little_tray_storage_apple_b", "dataset_uuid": null, "task_descriptions": [ "put the apples in the little tray." ], "scene_type": [ "home" ], "atomic_actions": [ "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "apple", "level1": "fruit", "level2": "apple", "level3": null, "level4": null, "level5": null }, { "object_name": "tray", "level1": "container", "level2": "tray", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "unitree_g1" ], "end_effector_type": "three_finger_hand" } }, "R1_Lite_tidy_up_toiletries": { "dataset_name": "tidy_up_toiletries", "dataset_uuid": "8dfd4c19-842d-4dce-8253-ffaf5f56d7df", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "toiletries", "level1": "personal_care_products", "level2": "toiletries", "level3": null, "level4": null, "level5": null }, { "object_name": "drawer", "level1": "container", "level2": "drawer", "level3": null, "level4": null, "level5": null }, { "object_name": "storage_box", "level1": "container", "level2": "storage_box", "level3": null, "level4": null, "level5": null }, { "object_name": "cup", "level1": "container", "level2": "cup", "level3": null, "level4": null, "level5": null } ], "path": "R1_Lite_tidy_up_toiletries", "video_url": "./assets/videos/R1_Lite_tidy_up_toiletries.mp4", "thumbnail_url": "./assets/thumbnails/R1_Lite_tidy_up_toiletries.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "9.8GB", "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": "R1_Lite", "codebase_version": "v2.1", "statistics": { "total_episodes": 115, "total_frames": 205789, "total_tasks": 1, "total_videos": 345, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:114" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "put toiletries in drawer and cup in box or on table.", "sub_tasks": [ "Place the cup on the table", "Place the comb on the table with the right gripper", "Place the bathroom toiletry into the drawer", "Pick up the cup", "Pick up the bathroom toiletry", "Open the drawer with the left gripper", "Grasp the bathroom toiletry with the left gripper", "Put toiletries in the drawer", "Grasp the black cup with the left gripper", "Place the cup on the storage box", "Close the drawer", "Open the drawer", "Place the black cup on the drawer 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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "R1_Lite_tidy_up_toiletries_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "tidy_up_toiletries", "dataset_uuid": null, "task_descriptions": [ "put toiletries in drawer and cup in box or on table." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "toiletries", "level1": "personal_care_products", "level2": "toiletries", "level3": null, "level4": null, "level5": null }, { "object_name": "drawer", "level1": "container", "level2": "drawer", "level3": null, "level4": null, "level5": null }, { "object_name": "storage_box", "level1": "container", "level2": "storage_box", "level3": null, "level4": null, "level5": null }, { "object_name": "cup", "level1": "container", "level2": "cup", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "galaxea_r1_lite" ], "end_effector_type": "two_finger_gripper" } }, "AIRBOT_MMK2_place_cookies_and_beer": { "dataset_name": "place_cookies_and_beer", "dataset_uuid": "a380537f-44a3-457c-8113-67604aec65a7", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "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": "biscuit", "level1": "food", "level2": "biscuit", "level3": null, "level4": null, "level5": null }, { "object_name": "lid", "level1": "daily_necessities", "level2": "lid", "level3": null, "level4": null, "level5": null }, { "object_name": "beer_mug", "level1": "container", "level2": "beer_mug", "level3": null, "level4": null, "level5": null } ], "path": "AIRBOT_MMK2_place_cookies_and_beer", "video_url": "./assets/videos/AIRBOT_MMK2_place_cookies_and_beer.mp4", "thumbnail_url": "./assets/thumbnails/AIRBOT_MMK2_place_cookies_and_beer.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "492.5MB", "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": 10063, "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": "Pick up the biscuit from the table and place it in the white lid, and put the beer glass from the table into the white lid.", "sub_tasks": [ "End", "Place the bagged cookies on the white basket with the left gripper", "Place the beer mug on the white basket with the right gripper", "Grasp the beer mug with the right gripper", "Grasp the bagged cookies 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_place_cookies_and_beer_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "place_cookies_and_beer", "dataset_uuid": null, "task_descriptions": [ "use your left hand to pick up the biscuit on the table and place it in the white lid, and with your right hand, put the beer glass from the table into the white lid." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "biscuit", "level1": "food", "level2": "biscuit", "level3": null, "level4": null, "level5": null }, { "object_name": "lid", "level1": "daily_necessities", "level2": "lid", "level3": null, "level4": null, "level5": null }, { "object_name": "beer_mug", "level1": "container", "level2": "beer_mug", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "discover_robotics_aitbot_mmk2" ], "end_effector_type": "two_finger_gripper" } }, "AgiBot-g1_storage_item_b": { "dataset_name": "storage_item_b", "dataset_uuid": "6dc0fd94-f3bf-4d74-8dca-8b8723050f7d", "scene_type": [ "factory" ], "atomic_actions": [ "grasp", "place", "pick" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "data_cable", "level1": "tool", "level2": "data_cable", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "mouse", "level1": "tool", "level2": "mouse", "level3": null, "level4": null, "level5": null } ], "path": "AgiBot-g1_storage_item_b", "video_url": "./assets/videos/AgiBot-g1_storage_item_b.mp4", "thumbnail_url": "./assets/thumbnails/AgiBot-g1_storage_item_b.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "21.3GB", "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": "AgiBot-g1", "codebase_version": "v2.1", "statistics": { "total_episodes": 106, "total_frames": 48184, "total_tasks": 1, "total_videos": 848, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:105" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "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, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_back_left_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_back_right_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_center_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_left_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_right_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "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": [ 41 ], "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open", "robot_pos_x_m", "robot_pos_y_m", "robot_pos_z_m", "robot_quat_x", "robot_quat_y", "robot_quat_z", "robot_quat_w" ] }, "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", "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_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 }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "grasp data cable left put into box grasp mouse right put into box.", "sub_tasks": [ "Place the mouse and power cord into the box.", "Simultaneously pick up the mouse and power cord from the accessory packaging area.", "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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_back_left_fisheye_rgb", "name": "cam_back_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_back_right_fisheye_rgb", "name": "cam_back_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_center_fisheye_rgb", "name": "cam_high_center_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_left_fisheye_rgb", "name": "cam_high_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_right_fisheye_rgb", "name": "cam_high_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_back_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_back_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_center_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 41 ], "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open", "robot_pos_x_m", "robot_pos_y_m", "robot_pos_z_m", "robot_quat_x", "robot_quat_y", "robot_quat_z", "robot_quat_w" ] } }, "action_space": { "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", "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "AgiBot-g1_storage_item_b_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_back_left_fisheye_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_back_right_fisheye_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_high_center_fisheye_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_high_left_fisheye_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_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_high_right_fisheye_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "storage_item_b", "dataset_uuid": null, "task_descriptions": [ "grasp data cable left put into box grasp mouse right put into box." ], "scene_type": [ "factory" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "data_cable", "level1": "tool", "level2": "data_cable", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null }, { "object_name": "mouse", "level1": "tool", "level2": "mouse", "level3": null, "level4": null } ], "-operation_platform_height": null, "device_model": [ "tianqing_a2d" ], "end_effector_type": "two_finger_gripper" } }, "alpha_bot_2_move_the_table": { "dataset_name": "move_the_table", "dataset_uuid": "09e62222-abf5-4a90-a95b-91d15d99af82", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null } ], "path": "alpha_bot_2_move_the_table", "video_url": "./assets/videos/alpha_bot_2_move_the_table.mp4", "thumbnail_url": "./assets/thumbnails/alpha_bot_2_move_the_table.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "1.4GB", "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": "alpha_bot_2", "codebase_version": "v2.1", "statistics": { "total_episodes": 72, "total_frames": 50897, "total_tasks": 1, "total_videos": 288, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:71" }, "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_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_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": [ 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", "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" ] }, "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", "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" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "human machine collaborative table moving.", "sub_tasks": [ "End", "Move the table forward with both grippers", "Grasp the table with both grippers", "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_chest_rgb", "name": "cam_chest_rgb", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_head_rgb", "name": "cam_head_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 } ], "observation_space": { "images": [ { "key": "observation.images.cam_chest_rgb", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_head_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" ] } ], "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", "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" ] } }, "action_space": { "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", "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "alpha_bot_2_move_the_table_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_chest_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_head_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "move_the_table", "dataset_uuid": null, "task_descriptions": [ "human machine collaborative table moving." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "ai² aiphabot 2" ], "end_effector_type": "two_finger_gripper" } }, "Cobot_Magic_vase_storage_flower": { "dataset_name": "vase_storage_flower", "dataset_uuid": "ba4d8977-ef3d-433d-97f5-974b820832e8", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "flowers", "level1": "botany", "level2": "flowers", "level3": null, "level4": null, "level5": null }, { "object_name": "tablecloth", "level1": "clothing", "level2": "tablecloth", "level3": null, "level4": null, "level5": null }, { "object_name": "vase", "level1": "container", "level2": "vase", "level3": null, "level4": null, "level5": null } ], "path": "Cobot_Magic_vase_storage_flower", "video_url": "./assets/videos/Cobot_Magic_vase_storage_flower.mp4", "thumbnail_url": "./assets/thumbnails/Cobot_Magic_vase_storage_flower.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "12.6GB", "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": "Cobot_Magic", "codebase_version": "v2.1", "statistics": { "total_episodes": 453, "total_frames": 237198, "total_tasks": 6, "total_videos": 1359, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:452" }, "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_front_rgb": { "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "insert the flowers into the vase on the table with the blue tablecloth.\ninsert the flowers into the vase on the table with the green tablecloth.\ninsert the flowers into the vase on the table with the grey tablecloth.\ninsert the flowers into the vase on the table with the pink tablecloth.\ninsert the flowers into the vase on the white table.\ninsert the flowers into the vase on the table with the white tablecloth.", "sub_tasks": [ "Grasp the pink flower with left gripper", "Grasp the dumpling with left gripper", "Grasp the blue flower with left gripper", "Place the dumpling on the steamer with right gripper", "Grasp the dumpling with right gripper", "Grasp the pink flower with right gripper", "Place the pink flower in the vase with right gripper", "End", "use the left arm to insert the flowers into the vase", "Place the blue flower in the vase with left gripper", "use the right arm to insert the flowers into the vase", "Abnormal", "use the right arm to grab a bunch of fresh flowers", "Place the dumpling on the steamer with left gripper", "Place the blue flower in the vase with right gripper", "Put the flowers in the vase with both hands", "Grasp the blue flower with right gripper", "Place the white flower in the vase with right gripper", "Place the pink flower in the vase with left gripper", "Grasp the white flower with right gripper", "use the left arm to grab a bunch of fresh flowers", "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_front_rgb", "name": "cam_front_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_front_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Cobot_Magic_vase_storage_flower_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_front_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "vase_storage_flower", "dataset_uuid": null, "task_descriptions": [ "insert the flowers into the vase on the table with the blue tablecloth.", "insert the flowers into the vase on the table with the green tablecloth.", "insert the flowers into the vase on the table with the grey tablecloth.", "insert the flowers into the vase on the table with the pink tablecloth.", "insert the flowers into the vase on the white table.", "insert the flowers into the vase on the table with the white tablecloth." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "flowers", "level1": "botany", "level2": "flowers", "level3": null, "level4": null, "level5": null }, { "object_name": "tablecloth", "level1": "clothing", "level2": "tablecloth", "level3": null, "level4": null, "level5": null }, { "object_name": "vase", "level1": "container", "level2": "vase", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "agilex_cobot_magic_aloha" ], "end_effector_type": "two_finger_gripper" } }, "R1_Lite_drawer_storage_hair_dryer": { "dataset_name": "drawer_storage_hair_dryer", "dataset_uuid": "7ec2120b-9c60-40ef-901e-6526e5f7bae8", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place", "push", "pull" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "drawer", "level1": "container", "level2": "drawer", "level3": null, "level4": null, "level5": null }, { "object_name": "hair_dryer", "level1": "electrical_appliances", "level2": "hair_dryer", "level3": null, "level4": null, "level5": null }, { "object_name": "washbasin", "level1": "furniture", "level2": "washbasin", "level3": null, "level4": null, "level5": null } ], "path": "R1_Lite_drawer_storage_hair_dryer", "video_url": "./assets/videos/R1_Lite_drawer_storage_hair_dryer.mp4", "thumbnail_url": "./assets/thumbnails/R1_Lite_drawer_storage_hair_dryer.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "9.4GB", "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": "R1_Lite", "codebase_version": "v2.1", "statistics": { "total_episodes": 145, "total_frames": 206825, "total_tasks": 1, "total_videos": 435, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:144" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "Put the hair dryer into the drawer, then take it out of the drawer and place it in its original place.", "sub_tasks": [ "abnormal", "Put it into the drawer", "Take the hairdryer out", "Close the drawer", "Place it on the countertop", "Pull open the drawer", "Pick up the hairdryer", "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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "R1_Lite_drawer_storage_hair_dryer_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "drawer_storage_hair_dryer", "dataset_uuid": null, "task_descriptions": [ "put hair dryer from basin to drawer then back to basin." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place", "push", "pull" ], "objects": [ { "object_name": "drawer", "level1": "container", "level2": "drawer", "level3": null, "level4": null, "level5": null }, { "object_name": "hair_dryer", "level1": "electrical_appliances", "level2": "hair_dryer", "level3": null, "level4": null, "level5": null }, { "object_name": "washbasin", "level1": "furniture", "level2": "washbasin", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "galaxea_r1_lite" ], "end_effector_type": "two_finger_gripper" } }, "leju_robot_moving_parts_f": { "dataset_name": "moving_parts_f", "dataset_uuid": "b51f42cb-0020-403b-b1c0-c4cc99f2190a", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "end_effector_type": [ "five_finger_hand" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "cabinet", "level1": "furniture", "level2": "cabinet", "level3": null, "level4": null, "level5": null }, { "object_name": "parts", "level1": "mechanical_parts", "level2": "parts", "level3": null, "level4": null, "level5": null } ], "path": "leju_robot_moving_parts_f", "video_url": "./assets/videos/leju_robot_moving_parts_f.mp4", "thumbnail_url": "./assets/thumbnails/leju_robot_moving_parts_f.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "44.2GB", "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": "leju_robot", "codebase_version": "v2.1", "statistics": { "total_episodes": 489, "total_frames": 716938, "total_tasks": 1, "total_videos": 1467, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:488" }, "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.camera_head_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_left_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_right_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "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": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] }, "action": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "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": "take the parts from the cabinet and place them on the table.", "sub_tasks": [ "Place the white part on the table with left gripper", "Grasp the white part with left gripper", "Place the gray part on the table with right gripper", "End", "Return to the initial position at the workbench.", "Move the small component to the workbench.", "Abnormal", "Place the white part on the table with right gripper", "Insert the small component into the corresponding slot on the workbench.", "Pick up the small component from the shelf.", "Grasp the gray part with right gripper", "Move to the table behind body", "Grasp the white part with right 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.camera_head_rgb", "name": "camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_left_wrist_rgb", "name": "camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_right_wrist_rgb", "name": "camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] } }, "action_space": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "leju_robot_moving_parts_f_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.camera_head_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.camera_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.camera_right_wrist_rgb/\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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "moving_parts_f", "dataset_uuid": null, "task_descriptions": [ "take the parts from the cabinet and move to the table ,then place the parts on the table." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "cabinet", "level1": "furniture", "level2": "cabinet", "level3": null, "level4": null, "level5": null }, { "object_name": "parts", "level1": "mechanical_parts", "level2": "parts", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "leju_kuavo_4_pro" ], "end_effector_type": "five_finger_gripper" } }, "G1edu-u3_pick_leftover_food_ac": { "dataset_name": "pick_leftover_food_ac", "dataset_uuid": "31bb63f2-f1c2-48b4-bc7f-98e365933e8f", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick" ], "end_effector_type": [ "three_finger_hand" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "leftover_food", "level1": "rubbish", "level2": "leftover_food", "level3": null, "level4": null, "level5": null } ], "path": "G1edu-u3_pick_leftover_food_ac", "video_url": "./assets/videos/G1edu-u3_pick_leftover_food_ac.mp4", "thumbnail_url": "./assets/thumbnails/G1edu-u3_pick_leftover_food_ac.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "1K-10K", "dataset_size": "63.0MB", "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": "G1edu-u3", "codebase_version": "v2.1", "statistics": { "total_episodes": 14, "total_frames": 4666, "total_tasks": 1, "total_videos": 14, "total_chunks": 1, "chunks_size": 14, "fps": 30 }, "splits": { "train": "0:13" }, "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.ego_view": { "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.state": { "dtype": "float32", "shape": [ 30 ], "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": [ 30 ], "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": "float64", "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": "Pick up the crumpled paper\nPick up the empty bottle\nPick up the leftover food\nPick up the metal bowl\nPick up the metal bowl\nPick up the plastic bowl\nPick up the plastic bowl\nPlace the metal bowl\nPlace the metal bowl\nPlace the plastic bowl\nPlace the plastic bowl", "sub_tasks": [ "End", "Abnormal", "Grasp the bagged food and lift it to the center of the view with left gripper ", "Grasp the bagged food and lift it to the center of the view with right 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.ego_view", "name": "ego_view", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.ego_view", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channel" ] } ], "state": { "dtype": "float32", "shape": [ 30 ], "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_space": { "dtype": "float32", "shape": [ 30 ], "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "G1edu-u3_pick_leftover_food_ac_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.ego_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "pick_leftover_food_ac", "dataset_uuid": null, "task_descriptions": [ "pick up the leftover food on the table." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "leftover_food", "level1": "rubbish", "level2": "leftover_food", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "unitree_g1" ], "end_effector_type": "three_finger_hand" } }, "AIRBOT_MMK2_food_storage": { "dataset_name": "food_storage", "dataset_uuid": "9c369848-06e7-404b-b234-c5f7a829f345", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "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": "cake", "level1": "food", "level2": "cake", "level3": null, "level4": null, "level5": null }, { "object_name": "ice_cream", "level1": "food", "level2": "ice_cream", "level3": null, "level4": null, "level5": null }, { "object_name": "bowl", "level1": "container", "level2": "bowl", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "egg", "level1": "food", "level2": "egg", "level3": null, "level4": null, "level5": null }, { "object_name": "egg_box", "level1": "container", "level2": "egg_box", "level3": null, "level4": null, "level5": null }, { "object_name": "potato", "level1": "vegetables", "level2": "potato", "level3": null, "level4": null, "level5": null }, { "object_name": "grid", "level1": "container", "level2": "grid", "level3": null, "level4": null, "level5": null }, { "object_name": "braised_pork", "level1": "food", "level2": "braised_pork", "level3": null, "level4": null, "level5": null }, { "object_name": "prawns", "level1": "food", "level2": "prawns", "level3": null, "level4": null, "level5": null }, { "object_name": "sponge", "level1": "kitchenware", "level2": "sponge", "level3": null, "level4": null, "level5": null }, { "object_name": "wooden_frame", "level1": "furniture", "level2": "wooden_frame", "level3": null, "level4": null, "level5": null } ], "path": "AIRBOT_MMK2_food_storage", "video_url": "./assets/videos/AIRBOT_MMK2_food_storage.mp4", "thumbnail_url": "./assets/thumbnails/AIRBOT_MMK2_food_storage.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "2.4GB", "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": 344, "total_frames": 58969, "total_tasks": 7, "total_videos": 1376, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:343" }, "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": "Place the potato in one compartment using one hand while keeping the other hand still.\nPick up the cake and ice cream from the table simultaneously with both hands, and then throw them into the bowl and plate at the same time.\nTake the sponge out of the plate with one hand and place it on the table, then pick up the cake from the table with the other hand and put it on the plate.\nPick up one egg on the table with one hand and put it on the plate, then pick up another egg on the table with the other hand and put it on the plate.\nPick up the egg on the table with one hand and put it into the egg box, then cover the egg box with the other hand.\nPick up the braised pork on the table with one hand and put it in the plate, and then pick up the prawns on the table with the other hand and put them in the plate.\nPick up one cake with one hand and place it on the wooden rack, and pick up the other cake with the other hand and place it on the wooden rack.", "sub_tasks": [ "Grasp the cake from the table and with the left gripper", "Place the shrimp into the plate with the right gripper", "Close the lid of the egg storage box with the left gripper", "Place the potato into the left compartment of the storage box with the left gripper", "Grasp the ice cream with the right gripper", "Place the braised pork in brown sauce into the plate with the left gripper", "Grasp the potato with the left gripper", "Place the cake into the bowl with the left gripper", "Place the egg into the egg storage box with the right gripper", "Grasp the egg with the left gripper", "Place the egg into the plate with the left gripper", "Grasp the egg with the right gripper", "Place the egg into the plate with the right gripper", "Place the cake onto the block toy with the left gripper", "Place the cake onto the block toy with the right gripper", "End", "Place the ice cream into the plate with the right gripper", "Grasp the cake from the table and with the right gripper", "Place the sponge on the table with the left gripper", "Grasp the braised pork in brown sauce with the left gripper", "Grasp the cake with the left gripper", "Static", "Grasp the sponge from the plate and with the left gripper", "Place the cake into the plate with the right gripper", "Abnormal", "Grasp the shrimp with the right 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_food_storage_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "food_storage", "dataset_uuid": null, "task_descriptions": [ "pick up the cake and ice cream from the table simultaneously with your left and right hands, and then throw them into the bowl and plate at the same time.", "pick up the egg on the table with the right hand and put it into the egg box, then cover the egg box with the left hand.", "place the potato in the left compartment with your left hand while keeping your right hand still.", "pick up the braised pork on the table with your left hand and put it in the plate, and then pick up the prawns on the table with your right hand and put them in the plate.", "pick up the egg on the table with your left hand and put it on the plate, then pick up another egg on the table with your right hand and put it on the plate.", "take the sponge out of the plate with your left hand and place it on the table, then pick up the cake from the table with your right hand and put it on the plate.", "pick up the cake on the left with your left hand and place it on the wooden rack, and pick up the cake on the right with your right hand and place it on the wooden rack." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "cake", "level1": "food", "level2": "cake", "level3": null, "level4": null, "level5": null }, { "object_name": "ice_cream", "level1": "food", "level2": "ice_cream", "level3": null, "level4": null, "level5": null }, { "object_name": "bowl", "level1": "container", "level2": "bowl", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "egg", "level1": "food", "level2": "egg", "level3": null, "level4": null, "level5": null }, { "object_name": "egg_box", "level1": "container", "level2": "egg_box", "level3": null, "level4": null, "level5": null }, { "object_name": "potato", "level1": "vegetables", "level2": "potato", "level3": null, "level4": null, "level5": null }, { "object_name": "grid", "level1": "container", "level2": "grid", "level3": null, "level4": null, "level5": null }, { "object_name": "braised_pork", "level1": "food", "level2": "braised_pork", "level3": null, "level4": null, "level5": null }, { "object_name": "prawns", "level1": "food", "level2": "prawns", "level3": null, "level4": null, "level5": null }, { "object_name": "sponge", "level1": "kitchenware", "level2": "sponge", "level3": null, "level4": null, "level5": null }, { "object_name": "wooden_frame", "level1": "furniture", "level2": "wooden_frame", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "airbot mmk2" ], "end_effector_type": "five_finger_hand" } }, "R1_Lite_take_and_put_away_garden_stuff": { "dataset_name": "take_and_put_away_garden_stuff", "dataset_uuid": "05f234b5-3958-4897-b330-5c91290dd15c", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place", "pull", "push" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "refrigerator", "level1": "furniture", "level2": "refrigerator", "level3": null, "level4": null, "level5": null }, { "object_name": "drawer", "level1": "container", "level2": "drawer", "level3": null, "level4": null, "level5": null }, { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "tray", "level1": "container", "level2": "tray", "level3": null, "level4": null, "level5": null }, { "object_name": "potato", "level1": "food", "level2": "potato", "level3": null, "level4": null, "level5": null }, { "object_name": "green_pepper", "level1": "food", "level2": "green_pepper", "level3": null, "level4": null, "level5": null }, { "object_name": "pumpkin", "level1": "food", "level2": "pumpkin", "level3": null, "level4": null, "level5": null }, { "object_name": "apple", "level1": "food", "level2": "apple", "level3": null, "level4": null, "level5": null }, { "object_name": "orange", "level1": "food", "level2": "orange", "level3": null, "level4": null, "level5": null } ], "path": "R1_Lite_take_and_put_away_garden_stuff", "video_url": "./assets/videos/R1_Lite_take_and_put_away_garden_stuff.mp4", "thumbnail_url": "./assets/thumbnails/R1_Lite_take_and_put_away_garden_stuff.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "7.5GB", "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": "R1_Lite", "codebase_version": "v2.1", "statistics": { "total_episodes": 53, "total_frames": 135711, "total_tasks": 1, "total_videos": 159, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:52" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "put garden stuff in fridge drawer then take out to table.", "sub_tasks": [ "Pick up the ball on the table", "Pick up the ball on the lid", "Put the toys in the box", "Open the lid", "abnormal", "Close the lid", "Put the ball in the box", "Pick up the ball on the floor", "Pick up toys out of the box", "Find toys out of the box", "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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "R1_Lite_take_and_put_away_garden_stuff_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "storage_items", "dataset_uuid": null, "task_descriptions": [ "put the items on the ground and table into boxes, and cover the boxes." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place", "pull", "push" ], "objects": [ { "object_name": "refrigerator", "level1": "furniture", "level2": "refrigerator", "level3": null, "level4": null, "level5": null }, { "object_name": "drawer", "level1": "container", "level2": "drawer", "level3": null, "level4": null, "level5": null }, { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "tray", "level1": "container", "level2": "tray", "level3": null, "level4": null, "level5": null }, { "object_name": "potato", "level1": "food", "level2": "potato", "level3": null, "level4": null, "level5": null }, { "object_name": "green_pepper", "level1": "food", "level2": "green_pepper", "level3": null, "level4": null, "level5": null }, { "object_name": "pumpkin", "level1": "food", "level2": "pumpkin", "level3": null, "level4": null, "level5": null }, { "object_name": "apple", "level1": "food", "level2": "apple", "level3": null, "level4": null, "level5": null }, { "object_name": "orange", "level1": "food", "level2": "orange", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "galaxea_r1_lite" ], "end_effector_type": "two_finger_gripper" } }, "Split_aloha_stir_coffee": { "dataset_name": "stir_coffee", "dataset_uuid": "32b751d9-e42c-4ded-9426-ef495fea9a3d", "scene_type": [ "home", "office" ], "atomic_actions": [ "scoop", "grasp", "pick", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "cup", "level1": "container", "level2": "cup", "level3": null, "level4": null, "level5": null }, { "object_name": "spoon", "level1": "tableware", "level2": "spoon", "level3": null, "level4": null, "level5": null }, { "object_name": "coffee", "level1": "drink", "level2": "coffee", "level3": null, "level4": null, "level5": null } ], "path": "Split_aloha_stir_coffee", "video_url": "./assets/videos/Split_aloha_stir_coffee.mp4", "thumbnail_url": "./assets/thumbnails/Split_aloha_stir_coffee.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "2.4GB", "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": "Split_aloha", "codebase_version": "v2.1", "statistics": { "total_episodes": 495, "total_frames": 280886, "total_tasks": 8, "total_videos": 1485, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:494" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_left_wrist_rgb": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_right_wrist_rgb": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.state": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "action": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "timestamp": { "dtype": "float32", "shape": [ 1 ], "names": null }, "frame_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "episode_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "task_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "subtask_annotation": { "names": null, "dtype": "int32", "shape": [ 5 ] }, "scene_annotation": { "names": null, "dtype": "int32", "shape": [ 1 ] }, "eef_sim_pose_state": { "names": [ "left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_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 ] }, "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 ] }, "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 ] } }, "tasks": "the left gripper place the grey cup towards the center of the table, the right gripper grasp the blue spoon, stir the coffee in the grey cup three times, put the spoon back in its original position.\nthe left gripper place the grey cup towards the center of the table, the right gripper grasp the pink spoon, stir the coffee in the grey cup three times, put the spoon back in its original position.\nthe left gripper place the red cup towards the center of the table, the right gripper grasp the blue spoon, stir the coffee in the red cup three times, put the spoon back in its original position.\nthe left gripper place the red cup towards the center of the table, the right gripper grasp the pink spoon, stir the coffee in the red cup three times, put the spoon back in its original position.\nthe right gripper place the grey cup towards the center of the table, the left gripper grasp the blue spoon, stir the coffee in the grey cup three times, put the spoon back in its original position.\nthe right gripper place the grey cup towards the center of the table, the left gripper grasp the pink spoon, stir the coffee in the grey cup three times, put the spoon back in its original position.\nthe right gripper place the red cup towards the center of the table, the left gripper grasp the blue spoon, stir the coffee in the red cup three times, put the spoon back in its original position.\nthe right gripper place the red cup towards the center of the table, the left gripper grasp the pink spoon, stir the coffee in the red cup three times, put the spoon back in its original position.", "sub_tasks": [ "End", "Grasp the spoon with right gripper", "Move the cup in the center of the table with right gripper", "Stir the coffee with right gripper", "Stir the coffee in the cup", "Pick up the spoon", "Grasp the spoon with left gripper", "Stir the coffee with left gripper", "Move the cup with coffee to the center of view", "Static", "Move the cup in the center of the table with 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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "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 } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 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" ] } ], "state": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] } }, "action_space": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Split_aloha_stir_coffee_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "stir_coffee", "dataset_uuid": null, "task_descriptions": [ "the left gripper place the grey cup towards the center of the table, the right gripper grasp the blue spoon, stir the coffee in the grey cup three times, put the spoon back in its original position.", "the left gripper place the grey cup towards the center of the table, the right gripper grasp the pink spoon, stir the coffee in the grey cup three times, put the spoon back in its original position.", "the left gripper place the red cup towards the center of the table, the right gripper grasp the blue spoon, stir the coffee in the red cup three times, put the spoon back in its original position.", "the left gripper place the red cup towards the center of the table, the right gripper grasp the pink spoon, stir the coffee in the red cup three times, put the spoon back in its original position.", "the right gripper place the grey cup towards the center of the table, the left gripper grasp the blue spoon, stir the coffee in the grey cup three times, put the spoon back in its original position.", "the right gripper place the grey cup towards the center of the table, the left gripper grasp the pink spoon, stir the coffee in the grey cup three times, put the spoon back in its original position.", "the right gripper place the red cup towards the center of the table, the left gripper grasp the blue spoon, stir the coffee in the red cup three times, put the spoon back in its original position.", "the right gripper place the red cup towards the center of the table, the left gripper grasp the pink spoon, stir the coffee in the red cup three times, put the spoon back in its original position." ], "scene_type": [ "home", "office" ], "atomic_actions": [ "scoop", "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "cup", "level1": "container", "level2": "cup", "level3": null, "level4": null, "level5": null }, { "object_name": "spoon", "level1": "tableware", "level2": "spoon", "level3": null, "level4": null, "level5": null }, { "object_name": "coffee", "level1": "drink", "level2": "coffee", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "agilex_cobot_magic_aloha" ], "end_effector_type": "two_finger_gripper" } }, "G1edu-u3_pick_up_the_lemon_at": { "dataset_name": "pick_up_the_lemon_at", "dataset_uuid": "9965d331-a329-49c0-ae89-355a299338f1", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick" ], "end_effector_type": [ "three_finger_hand" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "lemon", "level1": "fruit", "level2": "lemon", "level3": null, "level4": null, "level5": null } ], "path": "G1edu-u3_pick_up_the_lemon_at", "video_url": "./assets/videos/G1edu-u3_pick_up_the_lemon_at.mp4", "thumbnail_url": "./assets/thumbnails/G1edu-u3_pick_up_the_lemon_at.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "1K-10K", "dataset_size": "84.5MB", "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": "G1edu-u3", "codebase_version": "v2.1", "statistics": { "total_episodes": 26, "total_frames": 8538, "total_tasks": 1, "total_videos": 26, "total_chunks": 1, "chunks_size": 26, "fps": 30 }, "splits": { "train": "0:25" }, "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.ego_view": { "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.state": { "dtype": "float32", "shape": [ 30 ], "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": [ 30 ], "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": "float64", "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": "Pick up the water bottle\nPick up the bread\nPick up the pink cup\nPick up the lemon\nPick up the tissue box\nPick up the toy bear\nPlace the water bottle\nPlace the bread\nPlace the pink cup\nPlace the lemon\nPlace the lemon on the orange round plate\nPlace the tissue box\nPlace the toy bear", "sub_tasks": [ "End", "Grasp the lemon and lift it to the center of the view with left gripper", "Abnormal", "Grasp the lemon and lift it to the center of the view with right 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.ego_view", "name": "ego_view", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.ego_view", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channel" ] } ], "state": { "dtype": "float32", "shape": [ 30 ], "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_space": { "dtype": "float32", "shape": [ 30 ], "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "G1edu-u3_pick_up_the_lemon_at_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.ego_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "pick_up_the_lemon_at", "dataset_uuid": null, "task_descriptions": [ "pick up the lemon on the table." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "lemon", "level1": "fruit", "level2": "lemon", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "unitree_g1" ], "end_effector_type": "three_finger_hand" } }, "Cobot_Magic_put_the_building_block_on_the_table": { "dataset_name": "put_the_building_block_on_the_table", "dataset_uuid": "04f51db4-3cdd-4327-93ad-41b490a4c52c", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place", "rotate" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "building_block", "level1": "toy", "level2": "building_block", "level3": null, "level4": null, "level5": null } ], "path": "Cobot_Magic_put_the_building_block_on_the_table", "video_url": "./assets/videos/Cobot_Magic_put_the_building_block_on_the_table.mp4", "thumbnail_url": "./assets/thumbnails/Cobot_Magic_put_the_building_block_on_the_table.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "400.2MB", "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": "Cobot_Magic", "codebase_version": "v2.1", "statistics": { "total_episodes": 98, "total_frames": 19816, "total_tasks": 1, "total_videos": 294, "total_chunks": 1, "chunks_size": 1000, "fps": 50 }, "splits": { "train": "0:97" }, "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": 50, "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": 50, "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": 50, "video.channels": 3, "has_audio": false } }, "observation.state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "grasp the rotating cube-shaped block on the turntable and place it on the table.", "sub_tasks": [ "Grasp the rotating cube-shaped block on the turntable", "Place the cube on the desk", "abnormal", "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": 50, "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": 50, "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": 50, "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" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Cobot_Magic_put_the_building_block_on_the_table_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "put_the_building_block_on_the_table", "dataset_uuid": null, "task_descriptions": [ "grasp the rotating cube shaped block on the turntable and place it on the table." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place", "rotate" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "building_block", "level1": "toy", "level2": "building_block", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "agilex_cobot_decoupled_magic" ], "end_effector_type": "two_finger_gripper" } }, "RMC-AIDA-L_basket_storage_banana": { "dataset_name": "basket_storage_banana", "dataset_uuid": "95db1bea-22a4-4ba9-9097-ef3711a084d0", "scene_type": [ "home", "kitchen" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "basket", "level1": "container", "level2": "basket", "level3": null, "level4": null, "level5": null }, { "object_name": "banana", "level1": "fruit", "level2": "banana", "level3": null, "level4": null, "level5": null } ], "path": "RMC-AIDA-L_basket_storage_banana", "video_url": "./assets/videos/RMC-AIDA-L_basket_storage_banana.mp4", "thumbnail_url": "./assets/thumbnails/RMC-AIDA-L_basket_storage_banana.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "3.1GB", "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": "RMC-AIDA-L", "codebase_version": "v2.1", "statistics": { "total_episodes": 654, "total_frames": 306335, "total_tasks": 4, "total_videos": 1962, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:653" }, "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.state": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] }, "action": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "the left gripper pick up the basket to the appropriate position, the right gripper pick up the banana and place it into the basket.\nthe right gripper pick up the black basket and place it horizontally in the middle of the table, the left gripper pick up the banana and place it into the black basket.\nthe left gripper pick up the black basket and place it horizontally in the middle of the table, the right gripper pick up the banana and place it into the black basket.\nthe right gripper pick up the yellow basket and place it horizontally in the middle of the table, the left gripper pick up the banana and place it into the yellow basket.", "sub_tasks": [ "Pick up the banana with the right gripper", "Pick up the light basket with the right gripper", "abnormal", "Place the banana into the light basket with the left gripper", "Place the dark basket in the center of view with the left gripper", "Place the light basket in the center of view with the right gripper", "Place the basket in the center of view with the left gripper", "Pick up the banana with the left gripper", "Place the banana into the dark basket with the left gripper", "end", "Place the banana into the basket with the right gripper", "Place the dark basket in the center of view with the right gripper", "Place the banana into the dark basket with the right gripper", "Pick up the dark basket with the left gripper", "Pick up the basket with the right gripper", "Pick up the basket with the left gripper", "Pick up the dark basket with the right 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 } ], "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" ] } ], "state": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] } }, "action_space": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "RMC-AIDA-L_basket_storage_banana_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "basket_storage_banana", "dataset_uuid": null, "task_descriptions": [ "the left gripper pick up the yellow basket and place it horizontally in the middle of the table the right gripper pick up the banana and place it into the yellow basket.", "the left gripper pick up the black basket and place it horizontally in the middle of the table, the right gripper pick up the banana and place it into the black basket.", "the right gripper pick up the black basket and place it horizontally in the middle of the table, the left gripper pick up the banana and place it into the black basket.", "the right gripper pick up the yellow basket and place it horizontally in the middle of the table, the left gripper pick up the banana and place it into the yellow basket." ], "scene_type": [ "home", "kitchen" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "basket", "level1": "container", "level2": "basket", "level3": null, "level4": null, "level5": null }, { "object_name": "banana", "level1": "fruit", "level2": "banana", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "realman rmc-aida-l" ], "end_effector_type": "two_finger_gripper" } }, "AgiBot-g1_picks_up_parts_b": { "dataset_name": "picks_up_parts_b", "dataset_uuid": "3c0a2eba-4ba5-472f-8d66-81ef39df434e", "scene_type": [ "factory" ], "atomic_actions": [ "place", "pick", "grasp" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "basket", "level1": "container", "level2": "basket", "level3": null, "level4": null, "level5": null }, { "object_name": "parts", "level1": "tool", "level2": "parts", "level3": null, "level4": null, "level5": null } ], "path": "AgiBot-g1_picks_up_parts_b", "video_url": "./assets/videos/AgiBot-g1_picks_up_parts_b.mp4", "thumbnail_url": "./assets/thumbnails/AgiBot-g1_picks_up_parts_b.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "127.3GB", "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": "AgiBot-g1", "codebase_version": "v2.1", "statistics": { "total_episodes": 824, "total_frames": 274936, "total_tasks": 1, "total_videos": 6592, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:823" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "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, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_back_left_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_back_right_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_center_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_left_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_right_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "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": [ 41 ], "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open", "robot_pos_x_m", "robot_pos_y_m", "robot_pos_z_m", "robot_quat_x", "robot_quat_y", "robot_quat_z", "robot_quat_w" ] }, "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", "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_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 }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "use the mechanical arm to pick up the parts and place them on the table.", "sub_tasks": [ "Place the hard drive bracket into the box.", "Pick up the hard drive bracket from the feeding area.", "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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_back_left_fisheye_rgb", "name": "cam_back_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_back_right_fisheye_rgb", "name": "cam_back_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_center_fisheye_rgb", "name": "cam_high_center_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_left_fisheye_rgb", "name": "cam_high_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_right_fisheye_rgb", "name": "cam_high_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_back_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_back_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_center_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 41 ], "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open", "robot_pos_x_m", "robot_pos_y_m", "robot_pos_z_m", "robot_quat_x", "robot_quat_y", "robot_quat_z", "robot_quat_w" ] } }, "action_space": { "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", "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "AgiBot-g1_picks_up_parts_b_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_back_left_fisheye_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_back_right_fisheye_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_high_center_fisheye_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_high_left_fisheye_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_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_high_right_fisheye_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "picks_up_parts_b", "dataset_uuid": null, "task_descriptions": [ "use the mechanical arm to pick up the parts and place them on the table." ], "scene_type": [ "factory" ], "atomic_actions": [ "place", "pick", "grasp" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "basket", "level1": "container", "level2": "basket", "level3": null, "level4": null, "level5": null }, { "object_name": "parts", "level1": "tool", "level2": "parts", "level3": null, "level4": null, "level5": null } ], "-operation_platform_height": null, "device_model": [ "ruantong_a2d" ], "end_effector_type": "two_finger_gripper" } }, "leju_robot_box_storage_parcel_j": { "dataset_name": "box_storage_parcel_j", "dataset_uuid": "a9028fc5-d827-45d1-a2a9-31593becbf59", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "five_finger_hand" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "cleaner", "level1": "daily_necessities", "level2": "cleaner", "level3": null, "level4": null, "level5": null } ], "path": "leju_robot_box_storage_parcel_j", "video_url": "./assets/videos/leju_robot_box_storage_parcel_j.mp4", "thumbnail_url": "./assets/thumbnails/leju_robot_box_storage_parcel_j.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "20.0GB", "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": "leju_robot", "codebase_version": "v2.1", "statistics": { "total_episodes": 226, "total_frames": 322063, "total_tasks": 1, "total_videos": 678, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:225" }, "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.camera_head_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_left_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_right_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "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": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] }, "action": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "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": "moved the parcel from conveyor to table for the left to box.", "sub_tasks": [ "Take the fast-moving consumer goods bottle from the table.", "Pick up the fast-moving consumer goods bottle from the table.", "Flip the fast-moving consumer goods bottle to the front side.", "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.camera_head_rgb", "name": "camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_left_wrist_rgb", "name": "camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_right_wrist_rgb", "name": "camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] } }, "action_space": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "leju_robot_box_storage_parcel_j_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.camera_head_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.camera_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.camera_right_wrist_rgb/\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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "pass_the_cleaner_h", "dataset_uuid": null, "task_descriptions": [ "pick up the cleaner with right hand and pass it to left hand then put it on the table." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "cleaner", "level1": "daily_necessities", "level2": "cleaner", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "leju_kuavo_4_lb" ], "end_effector_type": "five_finger_gripper" } }, "RMC-AIDA-L_basket_storage_peach": { "dataset_name": "basket_storage_peach", "dataset_uuid": "88e35314-80f0-4a2b-a92e-5b0e769483ae", "scene_type": [ "home", "kitchen" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "basket", "level1": "container", "level2": "basket", "level3": null, "level4": null, "level5": null }, { "object_name": "peach", "level1": "fruit", "level2": "peach", "level3": null, "level4": null, "level5": null } ], "path": "RMC-AIDA-L_basket_storage_peach", "video_url": "./assets/videos/RMC-AIDA-L_basket_storage_peach.mp4", "thumbnail_url": "./assets/thumbnails/RMC-AIDA-L_basket_storage_peach.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "3.6GB", "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": "RMC-AIDA-L", "codebase_version": "v2.1", "statistics": { "total_episodes": 721, "total_frames": 308398, "total_tasks": 5, "total_videos": 2163, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:720" }, "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.state": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] }, "action": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "the left gripper pick up the basket to the appropriate position, the right gripper pick up the peach and place it into the basket.\nthe left gripper pick up the black basket and place it horizontally in the middle of the table, the right gripper pick up the peach and place it into the black basket.\nthe right gripper pick up the black basket and place it horizontally in the middle of the table, the left gripper pick up the peach and place it into the black basket.\nthe left gripper pick up the yellow basket and place it horizontally in the middle of the table, the right gripper pick up the peach and place it into the yellow basket.\nthe right gripper pick up the yellow basket and place it horizontally in the middle of the table, the left gripper pick up the peach and place it into the yellow basket.", "sub_tasks": [ "Place the basket in the center of view with the left gripper", "Place the dark basket in the center of view with the right gripper", "Pick up the basket with the left gripper", "Grasp the peach with left gripper", "Move the basket to the center of view with the left gripper", "Pick up the dark basket with the right gripper", "Pick up the dark basket with the left gripper", "Pick up the peach with the left gripper", "Place the peach in the dark basket with right gripper", "Place the peach in the dark basket with left gripper", "Pick up the light basket with the right gripper", "Grasp the basket with right gripper", "Put the peach into the basket", "Grasp the basket with left gripper", "Put the basket in the middle", "Grab the basket with your left arm", "Pick up the peach with the right gripper", "End", "Place the basket in the center of view with left gripper", "Place the light basket in the center of view with the right gripper", "abnormal", "Place the basket in the center of view with right gripper", "Grab the peach with your right arm", "Pick up the light basket with the left gripper", "Grasp the peach with right gripper", "Place the peach into the basket with the right gripper", "Place the peach into the basket 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 } ], "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" ] } ], "state": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] } }, "action_space": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "RMC-AIDA-L_basket_storage_peach_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "basket_storage_peach", "dataset_uuid": null, "task_descriptions": [ "the left gripper pick up the basket to the appropriate position, the right gripper pick up the peach and place it into the basket.", "the left gripper pick up the black basket and place it horizontally in the middle of the table, the right gripper pick up the peach and place it into the black basket.", "the left gripper pick up the yellow basket and place it horizontally in the middle of the table, the right gripper pick up the peach and place it into the yellow basket.", "the right gripper pick up the black basket and place it horizontally in the middle of the table, the left gripper pick up the peach and place it into the black basket.", "the right gripper pick up the yellow basket and place it horizontally in the middle of the table, the left gripper pick up the peach and place it into the yellow basket." ], "scene_type": [ "home", "kitchen" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "basket", "level1": "container", "level2": "basket", "level3": null, "level4": null, "level5": null }, { "object_name": "peach", "level1": "fruit", "level2": "peach", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "realman_rmc_aidal" ], "end_effector_type": "two_finger_gripper" } }, "leju_robot_hotel_services_af": { "dataset_name": "hotel_services_af", "dataset_uuid": "454ce503-1811-4c2a-9a2d-e6c284efa8e3", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "five_finger_hand" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "card", "level1": "nfc", "level2": "card", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "sensor", "level1": "electronic_products", "level2": "sensor", "level3": null, "level4": null, "level5": null } ], "path": "leju_robot_hotel_services_af", "video_url": "./assets/videos/leju_robot_hotel_services_af.mp4", "thumbnail_url": "./assets/thumbnails/leju_robot_hotel_services_af.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "4.9GB", "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": "leju_robot", "codebase_version": "v2.1", "statistics": { "total_episodes": 437, "total_frames": 77713, "total_tasks": 1, "total_videos": 1311, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:436" }, "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.camera_head_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_left_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_right_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "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": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] }, "action": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "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": "take out the card place it on the sensor for recognition and then transfer it.", "sub_tasks": [ "Pick up the key card from the card box.", "Hand the key card to the target.", "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.camera_head_rgb", "name": "camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_left_wrist_rgb", "name": "camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_right_wrist_rgb", "name": "camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] } }, "action_space": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "leju_robot_hotel_services_af_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.camera_head_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.camera_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.camera_right_wrist_rgb/\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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "hotel_services_af", "dataset_uuid": null, "task_descriptions": [ "pick room card from front box and give room card." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "card", "level1": "nfc", "level2": "card", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "sensor", "level1": "electronic_products", "level2": "sensor", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "leju_kuavo_4_pro" ], "end_effector_type": "five_finger_gripper" } }, "R1_Lite_take_or_store_plates": { "dataset_name": "take_or_store_plates", "dataset_uuid": "3c2c0596-7690-4f94-911f-74035fe6e126", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "cabinet", "level1": "furniture", "level2": "cabinet", "level3": null, "level4": null, "level5": null }, { "object_name": "drawer", "level1": "container", "level2": "drawer", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "stove", "level1": "furniture", "level2": "stove", "level3": null, "level4": null, "level5": null } ], "path": "R1_Lite_take_or_store_plates", "video_url": "./assets/videos/R1_Lite_take_or_store_plates.mp4", "thumbnail_url": "./assets/thumbnails/R1_Lite_take_or_store_plates.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "5.2GB", "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": "R1_Lite", "codebase_version": "v2.1", "statistics": { "total_episodes": 105, "total_frames": 138676, "total_tasks": 1, "total_videos": 315, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:104" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "take out or store plates on the stove and in the cabinet drawers.", "sub_tasks": [ "Pick up the plate on the stove", "Put the plate in the cupboard", "Pick up the plate in the cupboard", "Put the plate on the stove", "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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "R1_Lite_take_or_store_plates_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "take_or_store_plates", "dataset_uuid": null, "task_descriptions": [ "take out or store plates on the stove and in the cabinet drawers." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "cabinet", "level1": "furniture", "level2": "cabinet", "level3": null, "level4": null, "level5": null }, { "object_name": "drawer", "level1": "container", "level2": "drawer", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "stove", "level1": "furniture", "level2": "stove", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "galaxea_r1_lite" ], "end_effector_type": "two_finger_gripper" } }, "G1edu-u3_put_the_toy_ap": { "dataset_name": "put_the_toy_ap", "dataset_uuid": "925411a9-6e40-405a-a2fc-f09d64a8d75a", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place" ], "end_effector_type": [ "three_finger_hand" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "toy", "level1": "daily_supplies", "level2": "toy", "level3": null, "level4": null, "level5": null } ], "path": "G1edu-u3_put_the_toy_ap", "video_url": "./assets/videos/G1edu-u3_put_the_toy_ap.mp4", "thumbnail_url": "./assets/thumbnails/G1edu-u3_put_the_toy_ap.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "1K-10K", "dataset_size": "32.1MB", "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": "G1edu-u3", "codebase_version": "v2.1", "statistics": { "total_episodes": 9, "total_frames": 2242, "total_tasks": 1, "total_videos": 9, "total_chunks": 1, "chunks_size": 10, "fps": 30 }, "splits": { "train": "0:8" }, "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.ego_view": { "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.state": { "dtype": "float32", "shape": [ 30 ], "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": [ 30 ], "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": "float64", "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": "Pick up the water bottle\nPick up the bread\nPick up the pink cup\nPick up the lemmon\nPick up the tissue box\nPick up the toy bear\nPlace the water bottle\nPlace the bread\nPlace the pink cup\nPlace the lemon\nPlace the lemon on the orange round plate\nPlace the tissue box\nPlace the toy bear", "sub_tasks": [ "Place the toy bear on the table with left gripper", "End", "Place the toy bear on the table with right 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.ego_view", "name": "ego_view", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.ego_view", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channel" ] } ], "state": { "dtype": "float32", "shape": [ 30 ], "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_space": { "dtype": "float32", "shape": [ 30 ], "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "G1edu-u3_put_the_toy_ap_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.ego_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "put_the_toy_ap", "dataset_uuid": null, "task_descriptions": [ "put the toy on the table." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "toy", "level1": "daily_supplies", "level2": "toy", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "unitree_g1" ], "end_effector_type": "three_finger_hand" } }, "R1_Lite_move_the_position_of_the_rubiks_cube": { "dataset_name": "move_the_position_of_the_rubiks_cube", "dataset_uuid": "fe0a75c5-bab5-4e43-9502-081da6770b61", "scene_type": [ "home" ], "atomic_actions": [ "place", "pick", "grasp" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "pen", "level1": "office_supplies", "level2": "pen", "level3": null, "level4": null, "level5": null }, { "object_name": "banana", "level1": "fruit", "level2": "banana", "level3": null, "level4": null, "level5": null }, { "object_name": "bath_ball", "level1": "daily_necessities", "level2": "bath_ball", "level3": null, "level4": null, "level5": null }, { "object_name": "bowl", "level1": "container", "level2": "bowl", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "can", "level1": "container", "level2": "can", "level3": null, "level4": null, "level5": null }, { "object_name": "eraser", "level1": "office_supplies", "level2": "eraser", "level3": null, "level4": null, "level5": null }, { "object_name": "hard_cleanser", "level1": "daily_necessities", "level2": "hard_cleanser", "level3": null, "level4": null, "level5": null }, { "object_name": "long_bread", "level1": "food", "level2": "long_bread", "level3": null, "level4": null, "level5": null }, { "object_name": "peeler", "level1": "tool", "level2": "peeler", "level3": null, "level4": null, "level5": null }, { "object_name": "block", "level1": "toy", "level2": "block", "level3": null, "level4": null, "level5": null }, { "object_name": "duck", "level1": "toy", "level2": "duck", "level3": null, "level4": null, "level5": null }, { "object_name": "soap", "level1": "daily_necessities", "level2": "soap", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "basket", "level1": "container", "level2": "basket", "level3": null, "level4": null, "level5": null }, { "object_name": "cola", "level1": "drink", "level2": "cola", "level3": null, "level4": null, "level5": null }, { "object_name": "detergent", "level1": "daily_necessities", "level2": "detergent", "level3": null, "level4": null, "level5": null }, { "object_name": "egg_beater", "level1": "electrical_appliances", "level2": "egg_beater", "level3": null, "level4": null, "level5": null }, { "object_name": "towel", "level1": "clothing", "level2": "towel", "level3": null, "level4": null, "level5": null }, { "object_name": "orange", "level1": "fruit", "level2": "orange", "level3": null, "level4": null, "level5": null }, { "object_name": "peach", "level1": "fruit", "level2": "peach", "level3": null, "level4": null, "level5": null }, { "object_name": "marker", "level1": "office_supplies", "level2": "marker", "level3": null, "level4": null, "level5": null }, { "object_name": "rubiks_cube", "level1": "toy", "level2": "rubiks_cube", "level3": null, "level4": null, "level5": null }, { "object_name": "bread_slice", "level1": "food", "level2": "bread_slice", "level3": null, "level4": null, "level5": null }, { "object_name": "brush", 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"level2": "cookie", "level3": null, "level4": null, "level5": null }, { "object_name": "spoon", "level1": "tableware", "level2": "spoon", "level3": null, "level4": null, "level5": null } ], "path": "R1_Lite_move_the_position_of_the_rubiks_cube", "video_url": "./assets/videos/R1_Lite_move_the_position_of_the_rubiks_cube.mp4", "thumbnail_url": "./assets/thumbnails/R1_Lite_move_the_position_of_the_rubiks_cube.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "1K-10K", "dataset_size": "328.4MB", "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": "R1_Lite", "codebase_version": "v2.1", "statistics": { "total_episodes": 44, "total_frames": 9055, "total_tasks": 1, "total_videos": 176, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:43" }, "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_left_rgb": { "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_right_rgb": { "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, 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"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_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 ] }, "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 ] } }, "tasks": "put the rubiks cube the designated position.", "sub_tasks": [ "End", "Place the magic cube on the table with right gripper", "Place the magic cube on the table with left gripper", "Static", "Grasp the magic cube with left gripper", "Grasp the magic cube with right 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": 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1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "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" ] } }, "action_space": { "dtype": "float32", "shape": [ 18 ], "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "R1_Lite_move_the_position_of_the_rubiks_cube_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_left_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_high_right_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "move_the_position_of_the_rubiks_cube", "dataset_uuid": null, "task_descriptions": [ "put the rubiks cube the designated position." ], "scene_type": [ "home" ], "atomic_actions": [ "place", "pick", "grasp" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "pen", "level1": "office_supplies", "level2": "pen", "level3": null, "level4": null, "level5": null }, { "object_name": "banana", "level1": "fruit", "level2": "banana", "level3": null, "level4": null, "level5": null }, { "object_name": "bath_ball", "level1": "daily_necessities", "level2": "bath_ball", "level3": null, "level4": null, "level5": null }, { "object_name": "bowl", "level1": "container", "level2": "bowl", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "can", "level1": "container", "level2": "can", "level3": null, "level4": null, "level5": null }, { "object_name": "eraser", "level1": "office_supplies", "level2": "eraser", "level3": null, "level4": null, "level5": null }, { "object_name": "hard_cleanser", "level1": "daily_necessities", "level2": "hard_cleanser", "level3": null, "level4": null, "level5": null }, { "object_name": "long_bread", "level1": "food", "level2": "long_bread", "level3": null, "level4": null, "level5": null }, { "object_name": "peeler", "level1": "tool", "level2": "peeler", "level3": null, "level4": null, "level5": null }, { "object_name": "block", "level1": "toy", "level2": "block", "level3": null, "level4": null, "level5": null }, { "object_name": "duck", "level1": "toy", "level2": "duck", "level3": null, "level4": null, "level5": null }, { "object_name": "soap", "level1": "daily_necessities", "level2": "soap", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "basket", "level1": "container", "level2": "basket", "level3": null, "level4": null, "level5": null }, { "object_name": "cola", "level1": "drink", "level2": "cola", "level3": null, "level4": null, "level5": null }, { "object_name": "detergent", "level1": "daily_necessities", "level2": "detergent", "level3": null, "level4": null, "level5": null }, { "object_name": "egg_beater", "level1": "electrical_appliances", "level2": "egg_beater", "level3": null, "level4": null, "level5": null }, { "object_name": "towel", "level1": "clothing", "level2": "towel", "level3": null, "level4": null, "level5": null }, { "object_name": "orange", "level1": "fruit", "level2": "orange", "level3": null, "level4": null, "level5": null }, { "object_name": "peach", "level1": "fruit", "level2": "peach", "level3": null, "level4": null, "level5": null }, { "object_name": "marker", "level1": "office_supplies", "level2": "marker", "level3": null, "level4": null, "level5": null }, { "object_name": "rubiks_cube", "level1": "toy", "level2": "rubiks_cube", "level3": null, "level4": null, "level5": null }, { "object_name": "bread_slice", "level1": "food", "level2": "bread_slice", "level3": null, "level4": null, "level5": null }, { "object_name": "brush", "level1": "daily_necessities", "level2": "brush", "level3": null, "level4": null, "level5": null }, { "object_name": "yogurt", "level1": "drink", "level2": "yogurt", "level3": null, "level4": null, "level5": null }, { "object_name": "power_strip", "level1": "electric_appliance", "level2": "power_strip", "level3": null, "level4": null, "level5": null }, { "object_name": "milk", "level1": "drink", "level2": "milk", "level3": null, "level4": null, "level5": null }, { "object_name": "soda", "level1": "drink", "level2": "soda", "level3": null, "level4": null, "level5": null }, { "object_name": "lime", "level1": "fruit", "level2": "lime", "level3": null, "level4": null, "level5": null }, { "object_name": "coffee_capsule", "level1": "drink", "level2": "coffee_capsule", "level3": null, "level4": null, "level5": null }, { "object_name": "dish", "level1": "container", "level2": "dish", "level3": null, "level4": null, "level5": null }, { "object_name": "glass", "level1": "furniture", "level2": "glass", "level3": null, "level4": null, "level5": null }, { "object_name": "egg_yolk_pastry", "level1": "food", "level2": "egg_yolk_pastry", "level3": null, "level4": null, "level5": null }, { "object_name": "glasses_case", "level1": "daily_necessities", "level2": "glasses_case", "level3": null, "level4": null, "level5": null }, { "object_name": "gum", "level1": "daily_necessities", "level2": "gum", "level3": null, "level4": null, "level5": null }, { "object_name": "tape", "level1": "daily_necessities", "level2": "tape", "level3": null, "level4": null, "level5": null }, { "object_name": "soft_cleanser", "level1": "daily_necessities", "level2": "soft_cleanser", "level3": null, "level4": null, "level5": null }, { "object_name": "chips", "level1": "food", "level2": "chips", "level3": null, "level4": null, "level5": null }, { "object_name": "chocolate", "level1": "food", "level2": "chocolate", "level3": null, "level4": null, "level5": null }, { "object_name": "cookie", "level1": "food", "level2": "cookie", "level3": null, "level4": null, "level5": null }, { "object_name": "spoon", "level1": "tableware", "level2": "spoon", "level3": null, "level4": null, "level5": null } ], "device_model": [ "galaxea_r1_lite" ], "end_effector_type": "two_finger_gripper", "operation_platform_height": 77.2 } }, "R1_Lite_put_slippers_into_floor_standing_shoe_cabinet": { "dataset_name": "put_slippers_into_floor_standing_shoe_cabinet", "dataset_uuid": "3a43ccf0-8e1e-4bba-9a30-6a9a8bcefc6f", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "shoe_cabinet", "level1": "furniture", "level2": "shoe_cabinet", "level3": null, "level4": null, "level5": null }, { "object_name": "slippers", "level1": "clothing", "level2": "slippers", "level3": null, "level4": null, "level5": null }, { "object_name": "floor", "level1": "furniture", "level2": "floor", "level3": null, "level4": null, "level5": null } ], "path": "R1_Lite_put_slippers_into_floor_standing_shoe_cabinet", "video_url": "./assets/videos/R1_Lite_put_slippers_into_floor_standing_shoe_cabinet.mp4", "thumbnail_url": "./assets/thumbnails/R1_Lite_put_slippers_into_floor_standing_shoe_cabinet.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "11.6GB", "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": "R1_Lite", "codebase_version": "v2.1", "statistics": { "total_episodes": 107, "total_frames": 183363, "total_tasks": 1, "total_videos": 321, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:106" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "put slippers from floor to cabinet then back to floor.", "sub_tasks": [ "Pick up the slippers in the shoe cabinet", "Place the slippers into the shoe cabinet", "Pick up the slippers on the floor", "Place the slippers on the floor", "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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "R1_Lite_put_slippers_into_floor_standing_shoe_cabinet_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "put_slippers_into_floor_standing_shoe_cabinet", "dataset_uuid": null, "task_descriptions": [ "put slippers from floor to cabinet then back to floor." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "shoe_cabinet", "level1": "furniture", "level2": "shoe_cabinet", "level3": null, "level4": null, "level5": null }, { "object_name": "slippers", "level1": "clothing", "level2": "slippers", "level3": null, "level4": null, "level5": null }, { "object_name": "floor", "level1": "furniture", "level2": "floor", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "galaxea_r1_lite" ], "end_effector_type": "two_finger_gripper" } }, "AIRBOT_MMK2_medicine_bottle_storage": { "dataset_name": "medicine_bottle_storage", "dataset_uuid": "dd96582f-4eb0-43ad-b486-538898f0f0fe", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "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": "medicine_bottle", "level1": "container", "level2": "medicine_bottle", "level3": null, "level4": null, "level5": null }, { "object_name": "building_block", "level1": "toy", "level2": "building_block", "level3": null, "level4": null, "level5": null }, { "object_name": "white_platform", "level1": "container", "level2": "white_platform", "level3": null, "level4": null, "level5": null } ], "path": "AIRBOT_MMK2_medicine_bottle_storage", "video_url": "./assets/videos/AIRBOT_MMK2_medicine_bottle_storage.mp4", "thumbnail_url": "./assets/thumbnails/AIRBOT_MMK2_medicine_bottle_storage.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "467.8MB", "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": 16023, "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": "Place the medicine bottle you are holding in one hand on the white platform, then place the other medicine bottle you are holding on the same platform.", "sub_tasks": [ "Grasp the white bottle with the left gripper", "Static", "End", "Abnormal", "Grasp the white bottle the right gripper", "Place the white bottle on the white board with the left gripper", "Place the white bottle on the white board with the right 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_medicine_bottle_storage_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "medicine_bottle_storage", "dataset_uuid": null, "task_descriptions": [ "place the medicine bottle with the medicine in the left hand on the white platform, and then place the other white medicine bottle in the right hand on the same white platform." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "medicine_bottle", "level1": "container", "level2": "medicine_bottle", "level3": null, "level4": null, "level5": null }, { "object_name": "building_block", "level1": "toy", "level2": "building_block", "level3": null, "level4": null, "level5": null }, { "object_name": "white_platform", "level1": "container", "level2": "white_platform", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "airbot mmk2" ], "end_effector_type": "five_finger_hand" } }, "G1edu-u3_put_the_cup_b": { "dataset_name": "put_the_cup_b", "dataset_uuid": "c8b2edb4-b19b-4458-adfc-799a5e6f2065", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place" ], "end_effector_type": [ "three_finger_hand" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "cup", "level1": "container", "level2": "cup", "level3": null, "level4": null, "level5": null } ], "path": "G1edu-u3_put_the_cup_b", "video_url": "./assets/videos/G1edu-u3_put_the_cup_b.mp4", "thumbnail_url": "./assets/thumbnails/G1edu-u3_put_the_cup_b.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "1K-10K", "dataset_size": "73.7MB", "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": "G1edu-u3", "codebase_version": "v2.1", "statistics": { "total_episodes": 29, "total_frames": 6447, "total_tasks": 1, "total_videos": 29, "total_chunks": 1, "chunks_size": 29, "fps": 30 }, "splits": { "train": "0:28" }, "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.ego_view": { "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.state": { "dtype": "float32", "shape": [ 30 ], "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": [ 30 ], "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": "float64", "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": "Pick up the red apple\nPick up the red apple\nPick up the water bottle\nPick up the water bottle\nPick up the white cup\nPick up the lemon\nPlace the red apple\nPlace the red apple in the basket\nPlace the red apple on the blue rectangle plate\nPlace the red apple on the orange round plate\nPlace the water bottle\nPlace the water bottle\nPlace the white cup\nPlace the lemon on the blue rectangle plate\nPlace the lemon on the orange round plate", "sub_tasks": [ "End", "Place the paper cup on the table with right gripper", "Place the paper cup on the table with 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.ego_view", "name": "ego_view", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.ego_view", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channel" ] } ], "state": { "dtype": "float32", "shape": [ 30 ], "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_space": { "dtype": "float32", "shape": [ 30 ], "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "G1edu-u3_put_the_cup_b_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.ego_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "put_the_cup_b", "dataset_uuid": null, "task_descriptions": [ "put the cup on the table." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "cup", "level1": "container", "level2": "cup", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "unitree_g1" ], "end_effector_type": "three_finger_hand" } }, "AgiBot-g1_mobile_accessory_storage_box_c": { "dataset_name": "mobile_accessory_storage_box_c", "dataset_uuid": "be27952f-4bad-4014-aaf8-ce6946a852d5", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "accessories", "level1": "electronic_products", "level2": "accessories", "level3": null, "level4": null, "level5": null } ], "path": "AgiBot-g1_mobile_accessory_storage_box_c", "video_url": "./assets/videos/AgiBot-g1_mobile_accessory_storage_box_c.mp4", "thumbnail_url": "./assets/thumbnails/AgiBot-g1_mobile_accessory_storage_box_c.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "13.9GB", "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": "AgiBot-g1", "codebase_version": "v2.1", "statistics": { "total_episodes": 40, "total_frames": 28207, "total_tasks": 1, "total_videos": 320, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:39" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "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, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_back_left_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_back_right_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_center_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_left_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_right_fisheye_rgb": { "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1536, "video.width": 1920, "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": [ 41 ], "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open", "robot_pos_x_m", "robot_pos_y_m", "robot_pos_z_m", "robot_quat_x", "robot_quat_y", "robot_quat_z", "robot_quat_w" ] }, "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", "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_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 }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "move the position of the storage box with accessories on the table.", "sub_tasks": [ "Grasp the mouse and data cable", "Place the mouse and data cable in the paper box", "Place the data cable in the paper box", "End", "Grab and pick up the mouse and power cord from the accessory packaging area.", "Abnormal", "Place the mouse and power cord into the box.", "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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_back_left_fisheye_rgb", "name": "cam_back_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_back_right_fisheye_rgb", "name": "cam_back_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_center_fisheye_rgb", "name": "cam_high_center_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_left_fisheye_rgb", "name": "cam_high_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_right_fisheye_rgb", "name": "cam_high_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "resolution": [ 1536, 1920 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_back_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_back_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_center_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_left_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_right_fisheye_rgb", "dtype": "video", "shape": [ 1536, 1920, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 41 ], "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open", "robot_pos_x_m", "robot_pos_y_m", "robot_pos_z_m", "robot_quat_x", "robot_quat_y", "robot_quat_z", "robot_quat_w" ] } }, "action_space": { "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", "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_end_pos_x_m", "left_end_pos_y_m", "left_end_pos_z_m", "left_end_quat_x", "left_end_quat_y", "left_end_quat_z", "left_end_quat_w", "right_end_pos_x_m", "right_end_pos_y_m", "right_end_pos_z_m", "right_end_quat_x", "right_end_quat_y", "right_end_quat_z", "right_end_quat_w", "waist_yaw_rad", "waist_pitch_rad", "head_yaw_rad", "head_pitch_rad", "left_gripper_open", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "AgiBot-g1_mobile_accessory_storage_box_c_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_back_left_fisheye_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_back_right_fisheye_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_high_center_fisheye_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_high_left_fisheye_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_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_high_right_fisheye_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "mobile_accessory_storage_box_c", "dataset_uuid": null, "task_descriptions": [ "grasp data cable left put into box grasp mouse right put into box." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "accessories", "level1": "electronic_products", "level2": "accessories", "level3": null, "level4": null, "level5": null } ], "-operation_platform_height": null, "device_model": [ "tianqing_a2d" ], "end_effector_type": "two_finger_gripper" } }, "Tianqin_A2_container_storage_graphics_card": { "dataset_name": "container_storage_graphics_card", "dataset_uuid": "5059394a-7089-4138-ab9c-db9bfadd94c8", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "black_container", "level1": "container", "level2": "black_container", "level3": null, "level4": null, "level5": null }, { "object_name": "graphics_card", "level1": "tool", "level2": "graphics_card", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null } ], "path": "Tianqin_A2_container_storage_graphics_card", "video_url": "./assets/videos/Tianqin_A2_container_storage_graphics_card.mp4", "thumbnail_url": "./assets/thumbnails/Tianqin_A2_container_storage_graphics_card.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "12.0GB", "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": "Tianqin_A2", "codebase_version": "v2.1", "statistics": { "total_episodes": 280, "total_frames": 277206, "total_tasks": 1, "total_videos": 840, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:279" }, "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.state": { "dtype": "float32", "shape": [ 17 ], "names": [ "robot_joint_3_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", "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" ] }, "action": { "dtype": "float32", "shape": [ 17 ], "names": [ "robot_joint_3_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", "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 }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "take out graphics card from box remove packaging put into black container.", "sub_tasks": [ "Lift the bag", "Take out the hard disk of the bag", "End", "Place the down the bag", "Abnormal", "Place the hard disk in the hard disk enclosure", "Grasp the bag", "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 } ], "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" ] } ], "state": { "dtype": "float32", "shape": [ 17 ], "names": [ "robot_joint_3_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", "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" ] } }, "action_space": { "dtype": "float32", "shape": [ 17 ], "names": [ "robot_joint_3_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", "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Tianqin_A2_container_storage_graphics_card_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "container_storage_graphics_card", "dataset_uuid": null, "task_descriptions": [ "take out graphics card from box remove packaging put into black container." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "black_container", "level1": "container", "level2": "black_container", "level3": null, "level4": null, "level5": null }, { "object_name": "graphics_card", "level1": "tool", "level2": "graphics_card", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null } ], "-operation_platform_height": null, "device_model": [ "tianqing_a2d" ], "end_effector_type": "two_finger_gripper" } }, "Cobot_Magic_prepare_breakfast": { "dataset_name": "prepare_breakfast", "dataset_uuid": "fd0e715a-40a9-41a6-b734-b517862e255e", "scene_type": [ "home", "kitchen" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "apple", "level1": "fruit", "level2": "apple", "level3": null, "level4": null, "level5": null }, { "object_name": "egg", "level1": "food", "level2": "egg", "level3": null, "level4": null, "level5": null }, { "object_name": "croissant", "level1": "food", "level2": "croissant", "level3": null, "level4": null, "level5": null }, { "object_name": "cola", "level1": "drink", "level2": "cola", "level3": null, "level4": null, "level5": null }, { "object_name": "milk", "level1": "drink", "level2": "milk", "level3": null, "level4": null, "level5": null } ], "path": "Cobot_Magic_prepare_breakfast", "video_url": "./assets/videos/Cobot_Magic_prepare_breakfast.mp4", "thumbnail_url": "./assets/thumbnails/Cobot_Magic_prepare_breakfast.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "1.5GB", "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": "Cobot_Magic", "codebase_version": "v2.1", "statistics": { "total_episodes": 565, "total_frames": 125115, "total_tasks": 5, "total_videos": 1695, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:564" }, "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.state": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "action": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "timestamp": { "dtype": "float32", "shape": [ 1 ], "names": null }, "frame_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "episode_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "task_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "subtask_annotation": { "names": null, "dtype": "int32", "shape": [ 5 ] }, "scene_annotation": { "names": null, "dtype": "int32", "shape": [ 1 ] }, "eef_sim_pose_state": { "names": [ "left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_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 ] }, "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 ] }, "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 ] } }, "tasks": "pick up the apple and put it in the plate.\npick up the croissant and put it in the plate.\npick up the egg and put it in the plate.\npick up the milk and place it next to the plate.\npick up the cola and place it next to the plate.", "sub_tasks": [ "Place the apple on the plate with left gripper", "Place the round bread on the plate with left gripper", "Grasp the egg with left gripper", "Place the egg on the plate with left gripper", "Place the cola on the table with right gripper", "Grasp the apple with left gripper", "Grasp the round bread with right gripper", "Grasp the milk with left gripper", "Place the milk on the table with right gripper", "Place the apple on the plate with right gripper", "Place the milk on the table with left gripper", "Place the cola on the plate with right gripper", "Grasp the cola with right gripper", "Grasp the egg with right gripper", "Grasp the cola with left gripper", "Place the apple on the table with left gripper", "Grasp the milk with right gripper", "Place the cola on the table with left gripper", "Static", "End", "Place the round bread on the plate with right gripper", "Grasp the round bread with left gripper", "Place the egg on the plate with right gripper", "Abnormal", "Grasp the apple with right 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 } ], "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" ] } ], "state": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] } }, "action_space": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Cobot_Magic_prepare_breakfast_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "prepare_breakfast", "dataset_uuid": null, "task_descriptions": [ "pick up the apple and put it in the plate.", "pick up the egg and put it in the plate.", "pick up the croissant and put it in the plate.", "pick up the cola and place it next to the plate.", "pick up the milk and place it next to the plate." ], "scene_type": [ "home", "kitchen" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "apple", "level1": "fruit", "level2": "apple", "level3": null, "level4": null, "level5": null }, { "object_name": "egg", "level1": "food", "level2": "egg", "level3": null, "level4": null, "level5": null }, { "object_name": "croissant", "level1": "food", "level2": "croissant", "level3": null, "level4": null, "level5": null }, { "object_name": "cola", "level1": "drink", "level2": "cola", "level3": null, "level4": null, "level5": null }, { "object_name": "milk", "level1": "drink", "level2": "milk", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "agilex_cobot_decoupled_magic" ], "end_effector_type": "two_finger_gripper" } }, "Galbot_g1_fold_clothe_e": { "dataset_name": "fold_clothe_e", "dataset_uuid": "55462322-b5d2-4e42-a329-a02ce05490b8", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick", "flod" ], "end_effector_type": "two_finger_gripper", "operation_platform_height": 0.0, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "clothes", "level1": "clothing", "level2": "clothes", "level3": null, "level4": null, "level5": null } ], "path": "Galbot_g1_fold_clothe_e", "video_url": "./assets/videos/Galbot_g1_fold_clothe_e.mp4", "thumbnail_url": "./assets/thumbnails/Galbot_g1_fold_clothe_e.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "25.8GB", "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": "Galbot_g1", "codebase_version": "v2.1", "statistics": { "total_episodes": 865, "total_frames": 692130, "total_tasks": 1, "total_videos": 2595, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:864" }, "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": [ 368, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 368, "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": [ 368, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 368, "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": [ 49 ], "names": [ "body_joint_1_rad", "body_joint_2_rad", "body_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", "left_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm" ] }, "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", "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" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "fold and organize the clothes.", "sub_tasks": [ "Flip the folded clothes over with right gripper", "Abnormal", "use the left gripper to clamp the left edge of the fabric", "Drag the clothes to the center of the table", "End", "use both grippers simultaneously to clamp the upper edge of the clothing fabric", "use both grippers to drag the lower edge of the fabric forward and fold it over the upper edge", "use both grippers to drag the upper edge of the fabric backward and fold it over the lower edge", "use both grippers simultaneously to clamp the lower edge of the clothing fabric", "Drag the clothes downward with both gripper", "use the left gripper to drag the left edge of the fabric to the left and folds it over the right edge", "Flip the folded clothes over with 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": [ 368, 640, 3 ], "resolution": [ 368, 640 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 368, 640, 3 ], "resolution": [ 368, 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": [ 368, 640, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 368, 640, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 49 ], "names": [ "body_joint_1_rad", "body_joint_2_rad", "body_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", "left_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm" ] } }, "action_space": { "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", "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Galbot_g1_fold_clothe_e_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "fold_clothe_e", "dataset_uuid": null, "task_descriptions": [ "fold and organize the clothes." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick", "flod" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "clothes", "level1": "clothing", "level2": "clothes", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 0, "device_model": [ "galbo" ], "end_effector_type": "two_finger_gripper" } }, "AIRBOT_MMK2_place_the_network_cable_and_mouse_box": { "dataset_name": "place_the_network_cable_and_mouse_box", "dataset_uuid": "0d29b561-c4c2-4fde-ac84-230716315d3f", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "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": "mouse_box", "level1": "container", "level2": "mouse_box", "level3": null, "level4": null, "level5": null }, { "object_name": "network_cable", "level1": "tool", "level2": "network_cable", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null } ], "path": "AIRBOT_MMK2_place_the_network_cable_and_mouse_box", "video_url": "./assets/videos/AIRBOT_MMK2_place_the_network_cable_and_mouse_box.mp4", "thumbnail_url": "./assets/thumbnails/AIRBOT_MMK2_place_the_network_cable_and_mouse_box.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "473.6MB", "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": 46, "total_frames": 11195, "total_tasks": 1, "total_videos": 184, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:45" }, "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": "Pick up the mouse box and place it into the box, then pick up the blue network cable and place it into the box.", "sub_tasks": [ "Grasp the blue network cable with the right gripper", "Place the blue network cable into carton with the right gripper", "Static", "Grasp the mouse box with the left gripper", "Place the mouse box into carton with the left gripper", "End", "Abnormal", "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_place_the_network_cable_and_mouse_box_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "place_the_network_cable_and_mouse_box", "dataset_uuid": null, "task_descriptions": [ "put the mouse box into the box with the left hand, and then put the blue network cable into the box with the right hand." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "mouse_box", "level1": "container", "level2": "mouse_box", "level3": null, "level4": null, "level5": null }, { "object_name": "network_cable", "level1": "tool", "level2": "network_cable", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "airbot mmk2" ], "end_effector_type": "five_finger_hand" } }, "AIRBOT_MMK2_the_cup_is_placed_in_the_book": { "dataset_name": "the_cup_is_placed_in_the_book", "dataset_uuid": "5732913a-b1aa-4517-a3a0-3ad5eb5abd32", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "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": "book", "level1": "office_supplies", "level2": "book", "level3": null, "level4": null, "level5": null }, { "object_name": "cup", "level1": "container", "level2": "cup", "level3": null, "level4": null, "level5": null } ], "path": "AIRBOT_MMK2_the_cup_is_placed_in_the_book", "video_url": "./assets/videos/AIRBOT_MMK2_the_cup_is_placed_in_the_book.mp4", "thumbnail_url": "./assets/thumbnails/AIRBOT_MMK2_the_cup_is_placed_in_the_book.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "674.8MB", "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": 48, "total_frames": 17327, "total_tasks": 1, "total_videos": 192, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:47" }, "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": "Put the cake into the cup.", "sub_tasks": [ "Abnormal", "Static", "Grasp the cake with the left gripper", "End", "Grasp the cake with the right gripper", "Place the cake into the blue cup with the right gripper", "Place the cake into the blue cup 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_the_cup_is_placed_in_the_book_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "the_cup_is_placed_in_the_book", "dataset_uuid": null, "task_descriptions": [ "pick up the three cups on the left side of the table with your right hand and place。them on the book on the left side of the table." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "book", "level1": "office_supplies", "level2": "book", "level3": null, "level4": null, "level5": null }, { "object_name": "cup", "level1": "container", "level2": "cup", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "discover_robotics_aitbot_mmk2" ], "end_effector_type": "two_finger_gripper" } }, "Cobot_Magic_move_the_ball_interference": { "dataset_name": "move_the_ball_interference", "dataset_uuid": "45746c8e-f6f6-4670-858c-5a53ac7dbacb", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "ball", "level1": "toy", "level2": "ball", "level3": null, "level4": null, "level5": null }, { "object_name": "cube_block", "level1": "toy", "level2": "cube_block", "level3": null, "level4": null, "level5": null } ], "path": "Cobot_Magic_move_the_ball_interference", "video_url": "./assets/videos/Cobot_Magic_move_the_ball_interference.mp4", "thumbnail_url": "./assets/thumbnails/Cobot_Magic_move_the_ball_interference.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "440.3MB", "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": "Cobot_Magic", "codebase_version": "v2.1", "statistics": { "total_episodes": 100, "total_frames": 25598, "total_tasks": 1, "total_videos": 300, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:99" }, "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.state": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "action": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "timestamp": { "dtype": "float32", "shape": [ 1 ], "names": null }, "frame_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "episode_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "task_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "subtask_annotation": { "names": null, "dtype": "int32", "shape": [ 5 ] }, "scene_annotation": { "names": null, "dtype": "int32", "shape": [ 1 ] }, "eef_sim_pose_state": { "names": [ "left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_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 ] }, "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 ] }, "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 ] } }, "tasks": "pick up the ball next to the two cube blocks and place them in another position on the table.", "sub_tasks": [ "Grasp the spherical object on the right side", "Place the picked object on the left side of the table", "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 } ], "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" ] } ], "state": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] } }, "action_space": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Cobot_Magic_move_the_ball_interference_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "move_the_ball_interference", "dataset_uuid": null, "task_descriptions": [ "pick up the ball next to the two cube blocks and place them in another position on the table." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "ball", "level1": "toy", "level2": "ball", "level3": null, "level4": null, "level5": null }, { "object_name": "cube_block", "level1": "toy", "level2": "cube_block", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "agilex_cobot_decoupled_magic" ], "end_effector_type": "two_finger_gripper" } }, "AIRBOT_MMK2_double-sided_tape_placement": { "dataset_name": "double-sided_tape_placement", "dataset_uuid": "41460366-02ad-4c55-9db3-7dc79d98681d", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "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": "meinian_da", "level1": "drink", "level2": "meinian_da", "level3": null, "level4": null, "level5": null }, { "object_name": "double-sided_tape", "level1": "tool", "level2": "double-sided_tape", "level3": null, "level4": null, "level5": null } ], "path": "AIRBOT_MMK2_double-sided_tape_placement", "video_url": "./assets/videos/AIRBOT_MMK2_double-sided_tape_placement.mp4", "thumbnail_url": "./assets/thumbnails/AIRBOT_MMK2_double-sided_tape_placement.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "553.8MB", "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": 50, "total_frames": 11452, "total_tasks": 1, "total_videos": 200, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:49" }, "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": "Pick up a piece of double-sided tape and put it over the meinianda, then pick up another piece and put it over the meinianda.", "sub_tasks": [ "Place the transparent circular ring on the right onto the fanta in the middle with right gripper", "End", "Grasp the transparent circular ring on the left with the left gripper", "Place the transparent circular ring on the left onto the fanta in the middle with left gripper", "Abnormal", "Grasp the transparent circular ring on the right with the right 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_double-sided_tape_placement_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "double-sided_tape_placement", "dataset_uuid": null, "task_descriptions": [ "pick up the double-sided tape with your left hand and put it over the meinianda, pick up another double-sided tape with your right hand and put it over the meinianda." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "meinian_da", "level1": "drink", "level2": "meinian_da", "level3": null, "level4": null, "level5": null }, { "object_name": "double-sided_tape", "level1": "tool", "level2": "double-sided_tape", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "airbot mmk2" ], "end_effector_type": "five_finger_hand" } }, "Cobot_Magic_close_book": { "dataset_name": "close_book", "dataset_uuid": "778d9b66-c492-4978-9a1e-f67a5ba3636c", "scene_type": [ "home" ], "atomic_actions": [ "press", "close" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "book", "level1": "office_supplies", "level2": "book", "level3": null, "level4": null, "level5": null }, { "object_name": "tablecloth", "level1": "clothing", "level2": "tablecloth", "level3": null, "level4": null, "level5": null } ], "path": "Cobot_Magic_close_book", "video_url": "./assets/videos/Cobot_Magic_close_book.mp4", "thumbnail_url": "./assets/thumbnails/Cobot_Magic_close_book.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "2.8GB", "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": "Cobot_Magic", "codebase_version": "v2.1", "statistics": { "total_episodes": 287, "total_frames": 138451, "total_tasks": 3, "total_videos": 861, "total_chunks": 1, "chunks_size": 1000, "fps": 50 }, "splits": { "train": "0:286" }, "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": 50, "video.channels": 3, "has_audio": false } }, "observation.images.cam_left_wrist_rgb_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": 50, "video.channels": 3, "has_audio": false } }, "observation.images.cam_right_wrist_rgb_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": 50, "video.channels": 3, "has_audio": false } }, "observation.state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "on the green tablecloth, hold the book with one hand and close it with the other.\non the white tablecloth, hold the book with one hand and close it with the other.\non the grey tablecloth, hold the book with one hand and close it with the other.", "sub_tasks": [ "Abnormal", "End", "Close the book", "Close the open book", "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": 50, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb_rgb", "name": "cam_left_wrist_rgb_rgb", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 50, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb_rgb", "name": "cam_right_wrist_rgb_rgb", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 50, "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_rgb", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb_rgb", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Cobot_Magic_close_book_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_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_rgb/\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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "close_book", "dataset_uuid": null, "task_descriptions": [ "on the white tablecloth, hold the book with one hand and close it with the other.", "on the green tablecloth, hold the book with one hand and close it with the other.", "on the grey tablecloth, hold the book with one hand and close it with the other." ], "scene_type": [ "home" ], "atomic_actions": [ "press", "close" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "book", "level1": "office_supplies", "level2": "book", "level3": null, "level4": null, "level5": null }, { "object_name": "tablecloth", "level1": "clothing", "level2": "tablecloth", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "agilex_cobot_decoupled_magic" ], "end_effector_type": "two_finger_gripper" } }, "leju_robot_moving_parts_t": { "dataset_name": "moving_parts_t", "dataset_uuid": "5056a5a3-f4a2-42af-895f-9a477a499c11", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "end_effector_type": [ "five_finger_hand" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "cabinet", "level1": "furniture", "level2": "cabinet", "level3": null, "level4": null, "level5": null }, { "object_name": "parts", "level1": "mechanical_parts", "level2": "parts", "level3": null, "level4": null, "level5": null } ], "path": "leju_robot_moving_parts_t", "video_url": "./assets/videos/leju_robot_moving_parts_t.mp4", "thumbnail_url": "./assets/thumbnails/leju_robot_moving_parts_t.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "53.8GB", "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": "leju_robot", "codebase_version": "v2.1", "statistics": { "total_episodes": 493, "total_frames": 778671, "total_tasks": 1, "total_videos": 1479, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:492" }, "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.camera_head_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_left_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_right_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "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": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] }, "action": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "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": "take the parts from the cabinet and place them on the table.", "sub_tasks": [ "Move to the initial position of the shelf.", "Pick up the large material from the shelf.", "Insert the large material into the corresponding hole on the workbench.", "Move the large material to the front of the workbench.", "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.camera_head_rgb", "name": "camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_left_wrist_rgb", "name": "camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_right_wrist_rgb", "name": "camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] } }, "action_space": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "leju_robot_moving_parts_t_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.camera_head_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.camera_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.camera_right_wrist_rgb/\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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "moving_parts_t", "dataset_uuid": null, "task_descriptions": [ "take the parts from the cabinet and place them on the table." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "cabinet", "level1": "furniture", "level2": "cabinet", "level3": null, "level4": null, "level5": null }, { "object_name": "parts", "level1": "mechanical_parts", "level2": "parts", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "leju_robot" ], "end_effector_type": "two_finger_gripper" } }, "Cobot_Magic_turn_on_the_desk_lamp": { "dataset_name": "turn_on_the_desk_lamp", "dataset_uuid": "03edee3f-f1b6-4836-b23f-afb7c2210471", "scene_type": [ "home" ], "atomic_actions": [ "pressbutton" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "desk_lamp", "level1": "daily_necessities", "level2": "desk_lamp", "level3": null, "level4": null, "level5": null }, { "object_name": "tablecloth", "level1": "clothing", "level2": "tablecloth", "level3": null, "level4": null, "level5": null } ], "path": "Cobot_Magic_turn_on_the_desk_lamp", "video_url": "./assets/videos/Cobot_Magic_turn_on_the_desk_lamp.mp4", "thumbnail_url": "./assets/thumbnails/Cobot_Magic_turn_on_the_desk_lamp.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "8.2GB", "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": "Cobot_Magic", "codebase_version": "v2.1", "statistics": { "total_episodes": 449, "total_frames": 146182, "total_tasks": 6, "total_videos": 1347, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:448" }, "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_front_rgb": { "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "turn on the table lamp on the blue coffee tablecloth with your hand.\nturn on the table lamp on the light coffee tablecloth with your hand.\nturn on the table lamp on the green coffee tablecloth with your hand.\nturn on the desk lamp on the grey coffee tablecloth with your hand.\nturn on the table lamp on the pink coffee tablecloth with your hand.\nturn on the desk lamp on the white desktop with your hand.", "sub_tasks": [ "use the left arm to press the button switch on the lamp holder", "use the right arm to press the button switch on the lamp holder", "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_front_rgb", "name": "cam_front_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_front_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Cobot_Magic_turn_on_the_desk_lamp_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_front_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "turn_on_the_desk_lamp", "dataset_uuid": null, "task_descriptions": [ "turn on the table lamp on the blue tablecloth with your hand.", "turn on the table lamp on the light coffee tablecloth with your hand.", "turn on the table lamp on the green tablecloth with your hand.", "turn on the desk lamp on the grey tablecloth with your hand.", "turn on the table lamp on the pink tablecloth with your hand.", "turn on the desk lamp on the white desktop with your hand." ], "scene_type": [ "home" ], "atomic_actions": [ "pressbutton" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "desk_lamp", "level1": "daily_necessities", "level2": "desk_lamp", "level3": null, "level4": null, "level5": null }, { "object_name": "tablecloth", "level1": "clothing", "level2": "tablecloth", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "agilex_cobot_decoupled_magic" ], "end_effector_type": "two_finger_gripper" } }, "RMC-AIDA-L_desktop_organization": { "dataset_name": "desktop_organization", "dataset_uuid": "66922d94-1a12-4281-bddf-1da6a26caf4c", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "orange", "level1": "fruit", "level2": "orange", "level3": null, "level4": null, "level5": null }, { "object_name": "peach", "level1": "fruit", "level2": "peach", "level3": null, "level4": null, "level5": null }, { "object_name": "fruit_plate", "level1": "container", "level2": "fruit_plate", "level3": null, "level4": null, "level5": null }, { "object_name": "paper_ball", "level1": "garbage", "level2": "paper_ball", "level3": null, "level4": null, "level5": null }, { "object_name": "plastic", "level1": "garbage", "level2": "plastic", "level3": null, "level4": null, "level5": null }, { "object_name": "trash_can", "level1": "container", "level2": "trash_can", "level3": null, "level4": null, "level5": null }, { "object_name": "bottle", "level1": "container", "level2": "bottle", "level3": null, "level4": null, "level5": null }, { "object_name": "art_knife", "level1": "office_supplies", "level2": "art_knife", "level3": null, "level4": null, "level5": null }, { "object_name": "glue", "level1": "office_supplies", "level2": "glue", "level3": null, "level4": null, "level5": null }, { "object_name": "eraser", "level1": "office_supplies", "level2": "eraser", "level3": null, "level4": null, "level5": null }, { "object_name": "ruler", "level1": "office_supplies", "level2": "ruler", "level3": null, "level4": null, "level5": null }, { "object_name": "pen", "level1": "office_supplies", "level2": "pen", "level3": null, "level4": null, "level5": null }, { "object_name": "scissor", "level1": "office_supplies", "level2": "scissor", "level3": null, "level4": null, "level5": null }, { "object_name": "pen_holder", "level1": "container", "level2": "pen_holder", "level3": null, "level4": null, "level5": null } ], "path": "RMC-AIDA-L_desktop_organization", "video_url": "./assets/videos/RMC-AIDA-L_desktop_organization.mp4", "thumbnail_url": "./assets/thumbnails/RMC-AIDA-L_desktop_organization.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "1M-10M", "dataset_size": "38.7GB", "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": "RMC-AIDA-L", "codebase_version": "v2.1", "statistics": { "total_episodes": 1660, "total_frames": 2647489, "total_tasks": 2, "total_videos": 4980, "total_chunks": 2, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:1659" }, "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.state": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] }, "action": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "put the orange in the fruit plate, put the paper ball in the trash can, stand the bottle upright, put the art knife in the pen holder, put the glue in the pen holder, and put the eraser in the pen holder.\nput the peach in the fruit plate, put the plastic in the trash can, stand the bottle upright, put the ruler in the pen holder, put the pen in the pen holder, and put the scissor in the pen holder.", "sub_tasks": [ "Place the blue scissors into the pen holder with the right hand.", "Grab the orange with the left hand.", "Place the blue scissors into the pen holder with the left hand.", "Pass the ruler from the right hand to the left hand.", "Place the gray spring-action pen into the pen holder with the left hand.", "Pass the blue utility knife from the left hand to the right hand.", "Put the eraser into the pen holder with the right hand.", "Grab the blue scissors with the right hand.", "Grab the blue utility knife with the left hand.", "Place the orange into the fruit bowl with the right hand.", "Grab the plastic with the right hand.", "Discard.", "Pass the water bottle from the left hand to the right hand.", "Pass the ruler from the left hand to the right hand.", "Place the gray spring-action pen into the pen holder with the right hand.", "Pass the water bottle from the right hand to the left hand.", "Place the eraser into the pen holder with the left hand.", "Grab the blue scissors with the left hand.", "Grab the ruler with the left hand.", "Grab the eraser with the right hand.", "Pass the peach from the right hand to the left hand.", "Pass the blue scissors from the right hand to the left hand.", "Pass the gray spring-action pen from the left hand to the right hand.", "Pass the eraser from the left hand to the right hand.", "Place the blue utility knife into the pen holder with the right hand.", "Place the blue utility knife into the pen holder with the left hand.", "Place the ruler into the pen holder with the left hand.", "Grab the orange with the right hand.", "Grab the plastic with the left hand.", "Grab the peach with the right hand.", "Place the paper ball into the trash can with the right hand.", "Place the orange into the fruit bowl with the left hand.", "Grab the gray glue with the right hand.", "Pass the plastic from the right hand to the left hand.", "Grab the water bottle with the left hand.", "Pass the gray glue from the left hand to the right hand.", "Pass the paper ball from the left hand to the right hand.", "Pass the plastic from the left hand to the right hand.", "Grab the blue utility knife with the right hand.", "Pass the orange from the right hand to the left hand.", "Grab the paper ball with the left hand.", "Pass the blue scissors from the left hand to the right hand.", "Place the ruler into the pen holder with the right hand.", "Place the peach into the fruit bowl with the right hand.", "Place the water bottle on the table with the left hand.", "Grab the eraser with the left hand.", "Pass the gray glue from the right hand to the left hand.", "Grab the gray spring-action pen with the left hand.", "Pass the blue utility knife from the right hand to the left hand.", "Place the peach into the fruit bowl with the left hand.", "Grab the gray spring-action pen with the right hand.", "Grab the gray glue with the left hand.", "Place the water bottle on the table with the right hand.", "Grab the ruler with the right hand.", "Grab the water bottle with the right hand.", "Place the gray glue into the pen holder with the right hand.", "Grab the peach with the left hand.", "Place the plastic into the trash can with the right hand.", "Pass the gray spring-action pen from the right hand to the left hand.", "Place the gray glue into the pen holder with the left hand.", "Grab the paper ball with the right hand.", "end", "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 } ], "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" ] } ], "state": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] } }, "action_space": { "dtype": "float32", "shape": [ 28 ], "names": [ "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", "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_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", "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "RMC-AIDA-L_desktop_organization_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│ └── chunk-001/\n│ ├── episode_001000.parquet\n│ ├── episode_001001.parquet\n│ ├── episode_001002.parquet\n│ ├── episode_001003.parquet\n│ ├── episode_001004.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 └── chunk-001/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_001000.mp4\n ├── episode_001001.mp4\n ├── episode_001002.mp4\n ├── episode_001003.mp4\n ├── episode_001004.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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "desktop_organization", "dataset_uuid": null, "task_descriptions": [ "put the orange in the fruit plate, put the paper ball in the trash can, stand the bottle upright, put the art knife in the pen holder, put the glue in the pen holder, and put the eraser in the pen holder.", "put the peach in the fruit plate, put the plastic in the trash can, stand the bottle upright, put the ruler in the pen holder, put the pen in the pen holder, and put the scissor in the pen holder." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "orange", "level1": "fruit", "level2": "orange", "level3": null, "level4": null, "level5": null }, { "object_name": "peach", "level1": "fruit", "level2": "peach", "level3": null, "level4": null, "level5": null }, { "object_name": "fruit_plate", "level1": "container", "level2": "fruit_plate", "level3": null, "level4": null, "level5": null }, { "object_name": "paper_ball", "level1": "garbage", "level2": "paper_ball", "level3": null, "level4": null, "level5": null }, { "object_name": "plastic", "level1": "garbage", "level2": "plastic", "level3": null, "level4": null, "level5": null }, { "object_name": "trash_can", "level1": "container", "level2": "trash_can", "level3": null, "level4": null, "level5": null }, { "object_name": "bottle", "level1": "container", "level2": "bottle", "level3": null, "level4": null, "level5": null }, { "object_name": "art_knife", "level1": "office_supplies", "level2": "art_knife", "level3": null, "level4": null, "level5": null }, { "object_name": "glue", "level1": "office_supplies", "level2": "glue", "level3": null, "level4": null, "level5": null }, { "object_name": "eraser", "level1": "office_supplies", "level2": "eraser", "level3": null, "level4": null, "level5": null }, { "object_name": "ruler", "level1": "office_supplies", "level2": "ruler", "level3": null, "level4": null, "level5": null }, { "object_name": "pen", "level1": "office_supplies", "level2": "pen", "level3": null, "level4": null, "level5": null }, { "object_name": "scissor", "level1": "office_supplies", "level2": "scissor", "level3": null, "level4": null, "level5": null }, { "object_name": "pen_holder", "level1": "container", "level2": "pen_holder", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "realman rmc-aida-l" ], "end_effector_type": "two_finger_gripper" } }, "AIRBOT_MMK2_play_the_guitar": { "dataset_name": "play_the_guitar", "dataset_uuid": "cd4b25f6-e84e-4877-95e0-0c865e5b92a6", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place", "pull" ], "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": "little_guitar", "level1": "musical_instrument", "level2": "little_guitar", "level3": null, "level4": null, "level5": null } ], "path": "AIRBOT_MMK2_play_the_guitar", "video_url": "./assets/videos/AIRBOT_MMK2_play_the_guitar.mp4", "thumbnail_url": "./assets/thumbnails/AIRBOT_MMK2_play_the_guitar.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "1K-10K", "dataset_size": "360.3MB", "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": 48, "total_frames": 8574, "total_tasks": 1, "total_videos": 192, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:47" }, "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": "hold the small guitar in your lefthand, pluck the strings with your righthand, and then put down the small guitar with your lefthand.", "sub_tasks": [ "Play ukulele with the right gripper", "End", "Place the ukulele on the table with the left gripper", "Lift the ukulele with the left gripper", "Grasp the ukulele 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_play_the_guitar_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "play_the_guitar", "dataset_uuid": null, "task_descriptions": [ "hold the small guitar in your left hand, pluck the strings with your right hand, and then put down the small guitar with your left hand." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place", "pull" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "little_guitar", "level1": "musical_instrument", "level2": "little_guitar", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "airbot mmk2" ], "end_effector_type": "five_finger_hand" } }, "R1_Lite_move_the_position_of_the_pen": { "dataset_name": "move_the_position_of_the_pen", "dataset_uuid": "e974fb54-b565-4fa5-989e-a0c551c6d140", "scene_type": [ "office", "home" ], "atomic_actions": [ "place", "pick", "grasp" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "pen", "level1": "office_supplies", "level2": "pen", "level3": null, "level4": null, "level5": null }, { "object_name": "banana", "level1": "fruit", "level2": "banana", "level3": null, "level4": null, "level5": null }, { "object_name": "bath_ball", "level1": "daily_necessities", "level2": "bath_ball", "level3": null, "level4": null, "level5": null }, { "object_name": "bowl", "level1": "container", "level2": "bowl", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "can", "level1": "container", "level2": "can", "level3": null, "level4": null, "level5": null }, { "object_name": "eraser", "level1": "office_supplies", "level2": "eraser", "level3": null, "level4": null, "level5": null }, { "object_name": "hard_cleanser", "level1": "daily_necessities", "level2": "hard_cleanser", "level3": null, "level4": null, "level5": null }, { "object_name": "long_bread", "level1": "food", "level2": "long_bread", "level3": null, "level4": null, "level5": null }, { "object_name": "peeler", "level1": "tool", "level2": "peeler", "level3": null, "level4": null, "level5": null }, { "object_name": "block", "level1": "toy", "level2": "block", "level3": null, "level4": null, "level5": null }, { "object_name": "duck", "level1": "toy", "level2": "duck", "level3": null, "level4": null, "level5": null }, { "object_name": "soap", "level1": "daily_necessities", "level2": "soap", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "basket", "level1": "container", "level2": "basket", "level3": null, "level4": null, "level5": null }, { "object_name": "cola", "level1": "drink", "level2": "cola", "level3": null, "level4": null, "level5": null }, { "object_name": "detergent", "level1": "daily_necessities", "level2": "detergent", "level3": null, "level4": null, "level5": null }, { "object_name": "egg_beater", "level1": "electrical_appliances", "level2": "egg_beater", "level3": null, "level4": null, "level5": null }, { "object_name": "towel", "level1": "clothing", "level2": "towel", "level3": null, "level4": null, "level5": null }, { "object_name": "orange", "level1": "fruit", "level2": "orange", "level3": null, "level4": null, "level5": null }, { "object_name": "peach", "level1": "fruit", "level2": "peach", "level3": null, "level4": null, "level5": null }, { "object_name": "marker", "level1": "office_supplies", "level2": "marker", "level3": null, "level4": null, "level5": null }, { "object_name": "rubiks_cube", "level1": "toy", "level2": "rubiks_cube", "level3": null, "level4": null, "level5": null }, { "object_name": "bread_slice", "level1": "food", "level2": "bread_slice", "level3": null, "level4": null, "level5": null }, { "object_name": "brush", "level1": "daily_necessities", "level2": "brush", "level3": null, "level4": null, "level5": null }, { "object_name": "yogurt", "level1": "drink", "level2": "yogurt", "level3": null, "level4": null, "level5": null }, { "object_name": "power_strip", "level1": "electric_appliance", "level2": "power_strip", "level3": null, "level4": null, "level5": null }, { "object_name": "milk", "level1": "drink", "level2": "milk", "level3": null, "level4": null, "level5": null }, { "object_name": "soda", "level1": "drink", "level2": "soda", "level3": null, "level4": null, "level5": null }, { "object_name": "lime", "level1": "fruit", "level2": "lime", "level3": null, "level4": null, "level5": null }, { "object_name": "coffee_capsule", "level1": "drink", "level2": "coffee_capsule", "level3": null, "level4": null, "level5": null }, { "object_name": "dish", "level1": "container", "level2": "dish", "level3": null, "level4": null, "level5": null }, { "object_name": "glass", "level1": "furniture", "level2": "glass", "level3": null, "level4": null, "level5": null }, { "object_name": "egg_yolk_pastry", "level1": "food", "level2": "egg_yolk_pastry", "level3": null, "level4": null, "level5": null }, { "object_name": "glasses_case", "level1": "daily_necessities", "level2": "glasses_case", "level3": null, "level4": null, "level5": null }, { "object_name": "gum", "level1": "daily_necessities", "level2": "gum", "level3": null, "level4": null, "level5": null }, { "object_name": "tape", "level1": "daily_necessities", "level2": "tape", "level3": null, "level4": null, "level5": null }, { "object_name": "soft_cleanser", "level1": "daily_necessities", "level2": "soft_cleanser", "level3": null, "level4": null, "level5": null }, { "object_name": "chips", "level1": "food", "level2": "chips", "level3": null, "level4": null, "level5": null }, { "object_name": "chocolate", "level1": "food", "level2": "chocolate", "level3": null, "level4": null, "level5": null }, { "object_name": "cookie", "level1": "food", "level2": "cookie", "level3": null, "level4": null, "level5": null }, { "object_name": "spoon", "level1": "tableware", "level2": "spoon", "level3": null, "level4": null, "level5": null } ], "path": "R1_Lite_move_the_position_of_the_pen", "video_url": "./assets/videos/R1_Lite_move_the_position_of_the_pen.mp4", "thumbnail_url": "./assets/thumbnails/R1_Lite_move_the_position_of_the_pen.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "362.3MB", "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": "R1_Lite", "codebase_version": "v2.1", "statistics": { "total_episodes": 31, "total_frames": 11495, "total_tasks": 1, "total_videos": 124, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:30" }, "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_left_rgb": { "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_right_rgb": { "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 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" ] }, "action": { "dtype": "float32", "shape": [ 18 ], "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 }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "put the pen in the designated position.", "sub_tasks": [ "End", "Place the sign pen on the table with right gripper", "Grasp the sign pen with left gripper", "Place the sign pen on the table with left gripper", "Grasp the sign pen with right gripper", "Static", "Abnormal", "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_left_rgb", "name": "cam_high_left_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_right_rgb", "name": "cam_high_right_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_left_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_right_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "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" ] } }, "action_space": { "dtype": "float32", "shape": [ 18 ], "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "R1_Lite_move_the_position_of_the_pen_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_left_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_high_right_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "move_the_position_of_the_pen", "dataset_uuid": null, "task_descriptions": [ "put the pen in the designated position." ], "scene_type": [ "office", "home" ], "atomic_actions": [ "place", "pick", "grasp" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "pen", "level1": "office_supplies", "level2": "pen", "level3": null, "level4": null, "level5": null }, { "object_name": "banana", "level1": "fruit", "level2": "banana", "level3": null, "level4": null, "level5": null }, { "object_name": "bath_ball", "level1": "daily_necessities", "level2": "bath_ball", "level3": null, "level4": null, "level5": null }, { "object_name": "bowl", "level1": "container", "level2": "bowl", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "can", "level1": "container", "level2": "can", "level3": null, "level4": null, "level5": null }, { "object_name": "eraser", "level1": "office_supplies", "level2": "eraser", "level3": null, "level4": null, "level5": null }, { "object_name": "hard_cleanser", "level1": "daily_necessities", "level2": "hard_cleanser", "level3": null, "level4": null, "level5": null }, { "object_name": "long_bread", "level1": "food", "level2": "long_bread", "level3": null, "level4": null, "level5": null }, { "object_name": "peeler", "level1": "tool", "level2": "peeler", "level3": null, "level4": null, "level5": null }, { "object_name": "block", "level1": "toy", "level2": "block", "level3": null, "level4": null, "level5": null }, { "object_name": "duck", "level1": "toy", "level2": "duck", "level3": null, "level4": null, "level5": null }, { "object_name": "soap", "level1": "daily_necessities", "level2": "soap", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "basket", "level1": "container", "level2": "basket", "level3": null, "level4": null, "level5": null }, { "object_name": "cola", "level1": "drink", "level2": "cola", "level3": null, "level4": null, "level5": null }, { "object_name": "detergent", "level1": "daily_necessities", "level2": "detergent", "level3": null, "level4": null, "level5": null }, { "object_name": "egg_beater", "level1": "electrical_appliances", "level2": "egg_beater", "level3": null, "level4": null, "level5": null }, { "object_name": "towel", "level1": "clothing", "level2": "towel", "level3": null, "level4": null, "level5": null }, { "object_name": "orange", "level1": "fruit", "level2": "orange", "level3": null, "level4": null, "level5": null }, { "object_name": "peach", "level1": "fruit", "level2": "peach", "level3": null, "level4": null, "level5": null }, { "object_name": "marker", "level1": "office_supplies", "level2": "marker", "level3": null, "level4": null, "level5": null }, { "object_name": "rubiks_cube", "level1": "toy", "level2": "rubiks_cube", "level3": null, "level4": null, "level5": null }, { "object_name": "bread_slice", "level1": "food", "level2": "bread_slice", "level3": null, "level4": null, "level5": null }, { "object_name": "brush", "level1": "daily_necessities", "level2": "brush", "level3": null, "level4": null, "level5": null }, { "object_name": "yogurt", "level1": "drink", "level2": "yogurt", "level3": null, "level4": null, "level5": null }, { "object_name": "power_strip", "level1": "electric_appliance", "level2": "power_strip", "level3": null, "level4": null, "level5": null }, { "object_name": "milk", "level1": "drink", "level2": "milk", "level3": null, "level4": null, "level5": null }, { "object_name": "soda", "level1": "drink", "level2": "soda", "level3": null, "level4": null, "level5": null }, { "object_name": "lime", "level1": "fruit", "level2": "lime", "level3": null, "level4": null, "level5": null }, { "object_name": "coffee_capsule", "level1": "drink", "level2": "coffee_capsule", "level3": null, "level4": null, "level5": null }, { "object_name": "dish", "level1": "container", "level2": "dish", "level3": null, "level4": null, "level5": null }, { "object_name": "glass", "level1": "furniture", "level2": "glass", "level3": null, "level4": null, "level5": null }, { "object_name": "egg_yolk_pastry", "level1": "food", "level2": "egg_yolk_pastry", "level3": null, "level4": null, "level5": null }, { "object_name": "glasses_case", "level1": "daily_necessities", "level2": "glasses_case", "level3": null, "level4": null, "level5": null }, { "object_name": "gum", "level1": "daily_necessities", "level2": "gum", "level3": null, "level4": null, "level5": null }, { "object_name": "tape", "level1": "daily_necessities", "level2": "tape", "level3": null, "level4": null, "level5": null }, { "object_name": "soft_cleanser", "level1": "daily_necessities", "level2": "soft_cleanser", "level3": null, "level4": null, "level5": null }, { "object_name": "chips", "level1": "food", "level2": "chips", "level3": null, "level4": null, "level5": null }, { "object_name": "chocolate", "level1": "food", "level2": "chocolate", "level3": null, "level4": null, "level5": null }, { "object_name": "cookie", "level1": "food", "level2": "cookie", "level3": null, "level4": null, "level5": null }, { "object_name": "spoon", "level1": "tableware", "level2": "spoon", "level3": null, "level4": null, "level5": null } ], "device_model": [ "galaxea_r1_lite" ], "end_effector_type": "two_finger_gripper", "operation_platform_height": 77.2 } }, "Galbot_g1_steamer_storage_baozi_i": { "dataset_name": "steamer_storage_baozi_i", "dataset_uuid": "297d5a36-b520-4bf8-b733-99252b14cb64", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "end_effector_type": "two_finger_gripper", "operation_platform_height": 0.0, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "baozi", "level1": "food", "level2": "baozi", "level3": null, "level4": null, "level5": null }, { "object_name": "steamer", "level1": "container", "level2": "steamer", "level3": null, "level4": null, "level5": null }, { "object_name": "pot_lid", "level1": "daily_necessities", "level2": "pot_lid", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null } ], "path": "Galbot_g1_steamer_storage_baozi_i", "video_url": "./assets/videos/Galbot_g1_steamer_storage_baozi_i.mp4", "thumbnail_url": "./assets/thumbnails/Galbot_g1_steamer_storage_baozi_i.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "558.3MB", "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": "Galbot_g1", "codebase_version": "v2.1", "statistics": { "total_episodes": 32, "total_frames": 30158, "total_tasks": 1, "total_videos": 96, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:31" }, "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": [ 368, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 368, "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": [ 368, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 368, "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": [ 49 ], "names": [ "body_joint_1_rad", "body_joint_2_rad", "body_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", "left_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm" ] }, "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", "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" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "take steamed baozi put them in steamer then cover it.", "sub_tasks": [ "Grasp the pot lid with left gripper", "Place the pot lid on the steamer with left gripper", "End", "Place the baozi on the steamer with right gripper", "Grasp the baozi in the plate with right 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": [ 368, 640, 3 ], "resolution": [ 368, 640 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 368, 640, 3 ], "resolution": [ 368, 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": [ 368, 640, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 368, 640, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 49 ], "names": [ "body_joint_1_rad", "body_joint_2_rad", "body_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", "left_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm" ] } }, "action_space": { "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", "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Galbot_g1_steamer_storage_baozi_i_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "steamer_storage_baozi_i", "dataset_uuid": null, "task_descriptions": [ "take steamed baozi put them in steamer then cover it." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "baozi", "level1": "food", "level2": "baozi", "level3": null, "level4": null, "level5": null }, { "object_name": "steamer", "level1": "container", "level2": "steamer", "level3": null, "level4": null, "level5": null }, { "object_name": "pot_lid", "level1": "daily_necessities", "level2": "pot_lid", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 0, "device_model": [ "galbo" ], "end_effector_type": "two_finger_gripper" } }, "AIRBOT_MMK2_storage_computer_box": { "dataset_name": "storage_computer_box", "dataset_uuid": "dc4fba6b-79c1-4977-a7ad-1b159d434505", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "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": "calculator_box", "level1": "container", "level2": "calculator_box", "level3": null, "level4": null, "level5": null }, { "object_name": "lid", "level1": "container", "level2": "lid", "level3": null, "level4": null, "level5": null } ], "path": "AIRBOT_MMK2_storage_computer_box", "video_url": "./assets/videos/AIRBOT_MMK2_storage_computer_box.mp4", "thumbnail_url": "./assets/thumbnails/AIRBOT_MMK2_storage_computer_box.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "363.7MB", "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": 50, "total_frames": 10024, "total_tasks": 1, "total_videos": 200, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:49" }, "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": "Take the computer box from the table with one hand and transfer it to the other, then place it inside the white lid.", "sub_tasks": [ "Place the calculator box into the white basket with the right gripper", "Deliver the calculator box from left gripper to right gripper", "Grasp the calculator box with the left gripper", "End", "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_storage_computer_box_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "storage_calculator_box", "dataset_uuid": null, "task_descriptions": [ "take the calculator box from the table with your left hand and pass it to your right hand. take the computer box with your right hand and place it inside the white lid." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "calculator_box", "level1": "container", "level2": "calculator_box", "level3": null, "level4": null, "level5": null }, { "object_name": "lid", "level1": "container", "level2": "lid", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "airbot mmk2" ], "end_effector_type": "five_finger_hand" } }, "AIRBOT_MMK2_organize_and_place_books": { "dataset_name": "organize_and_place_books", "dataset_uuid": "6782c838-a0d2-4a8e-a50b-cc092bb2a215", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "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": "book", "level1": "office_supplies", "level2": "book", "level3": null, "level4": null, "level5": null } ], "path": "AIRBOT_MMK2_organize_and_place_books", "video_url": "./assets/videos/AIRBOT_MMK2_organize_and_place_books.mp4", "thumbnail_url": "./assets/thumbnails/AIRBOT_MMK2_organize_and_place_books.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "1K-10K", "dataset_size": "372.1MB", "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": 48, "total_frames": 9838, "total_tasks": 1, "total_videos": 192, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:47" }, "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": "Take the book from the table with one hand and transfer it to your other hand, then place it on another book.", "sub_tasks": [ "Place the yellow book on the white book with the right gripper", "Static", "End", "Deliver the yellow book from left gripper to right gripper", "Grasp the yellow book 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_organize_and_place_books_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "organize_and_place_books", "dataset_uuid": null, "task_descriptions": [ "take the book from the table with your left hand and pass it to your right hand. take the book with your right hand and place it on another book." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "book", "level1": "office_supplies", "level2": "book", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "airbot mmk2" ], "end_effector_type": "five_finger_hand" } }, "R1_Lite_sliding_chair": { "dataset_name": "sliding_chair", "dataset_uuid": "4bd1c96c-6ba1-4688-b331-2557a39894e2", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "chair", "level1": "furniture", "level2": "chair", "level3": null, "level4": null, "level5": null } ], "path": "R1_Lite_sliding_chair", "video_url": "./assets/videos/R1_Lite_sliding_chair.mp4", "thumbnail_url": "./assets/thumbnails/R1_Lite_sliding_chair.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "6.6GB", "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": "R1_Lite", "codebase_version": "v2.1", "statistics": { "total_episodes": 87, "total_frames": 142290, "total_tasks": 1, "total_videos": 261, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:86" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "pull chair out from table then put back.", "sub_tasks": [ "Push the gray chair back under the dining table", "Pull the gray chair out from under the dining table", "Push the blue chair back under the dining table", "Pull the blue chair out from under the dining table", "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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "R1_Lite_sliding_chair_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "sliding_chair", "dataset_uuid": null, "task_descriptions": [ "pull chair out from table then put back." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "chair", "level1": "furniture", "level2": "chair", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "galaxea_r1_lite" ], "end_effector_type": "two_finger_gripper" } }, "AIRBOT_MMK2_pumpkin_storage": { "dataset_name": "pumpkin_storage", "dataset_uuid": "591a516b-5f33-44ad-aa8a-b9b96c17194d", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "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": "pumpkin", "level1": "food", "level2": "pumpkin", "level3": null, "level4": null, "level5": null }, { "object_name": "cubicle", "level1": "container", "level2": "cubicle", "level3": null, "level4": null, "level5": null } ], "path": "AIRBOT_MMK2_pumpkin_storage", "video_url": "./assets/videos/AIRBOT_MMK2_pumpkin_storage.mp4", "thumbnail_url": "./assets/thumbnails/AIRBOT_MMK2_pumpkin_storage.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "462.9MB", "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": 12358, "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": "Throw the pumpkin into the designated compartment with one hand, while keeping your other hand still.", "sub_tasks": [ "Static", "Grasp the pumpkin with the right gripper", "End", "Place the pumpkin into the right compartment of the storage box", "Place the pumpkin into the right compartment of the storage box with the right 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_pumpkin_storage_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "pumpkin_storage", "dataset_uuid": null, "task_descriptions": [ "throw the pumpkin into the right compartment with your right hand, while keeping your left hand still." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "pumpkin", "level1": "food", "level2": "pumpkin", "level3": null, "level4": null, "level5": null }, { "object_name": "cubicle", "level1": "container", "level2": "cubicle", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "airbot mmk2" ], "end_effector_type": "five_finger_hand" } }, "AIRBOT_MMK2_potato_storage": { "dataset_name": "potato_storage", "dataset_uuid": "8fcf234f-ff14-4dc4-9bae-a32238fde9ed", "scene_type": [ "home", "restaurant" ], "atomic_actions": [ "grasp", "pick", "place" ], "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": "potato", "level1": "food", "level2": "potato", "level3": null, "level4": null, "level5": null }, { "object_name": "compartment", "level1": "container", "level2": "compartment", "level3": null, "level4": null, "level5": null } ], "path": "AIRBOT_MMK2_potato_storage", "video_url": "./assets/videos/AIRBOT_MMK2_potato_storage.mp4", "thumbnail_url": "./assets/thumbnails/AIRBOT_MMK2_potato_storage.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "1K-10K", "dataset_size": "252.5MB", "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": 50, "total_frames": 6958, "total_tasks": 2, "total_videos": 200, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:49" }, "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": "Put the potato in the compartment on one side using the hand on that same side.\nPut the potatoes in the compartment on one side using the hand on that same side.", "sub_tasks": [ "End", "Place the potato into the left compartment of the storage box with the left gripper", "Grasp the potato with the left gripper", "Place the potato into the right compartment of the storage box with the right gripper", "Grasp the potato with the right gripper", "Abnormal", "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_potato_storage_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "potato_storage", "dataset_uuid": null, "task_descriptions": [ "put the potato in the right compartment with your right hand.", "put the potatoes in the left compartment with your left hand." ], "scene_type": [ "home", "restaurant" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "potato", "level1": "food", "level2": "potato", "level3": null, "level4": null, "level5": null }, { "object_name": "compartment", "level1": "container", "level2": "compartment", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "airbot mmk2" ], "end_effector_type": "five_finger_hand" } }, "Cobot_Magic_classification_of_tableware": { "dataset_name": "classification_of_tableware", "dataset_uuid": "62f60030-04d6-4ae4-aab2-d753cbc6ad85", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "tablecloth", "level1": "clothing", "level2": "tablecloth", "level3": null, "level4": null, "level5": null }, { "object_name": "bowl", "level1": "container", "level2": "bowl", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "chopsticks", "level1": "tableware", "level2": "chopsticks", "level3": null, "level4": null, "level5": null }, { "object_name": "spoon", "level1": "tableware", "level2": "spoon", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null } ], "path": "Cobot_Magic_classification_of_tableware", "video_url": "./assets/videos/Cobot_Magic_classification_of_tableware.mp4", "thumbnail_url": "./assets/thumbnails/Cobot_Magic_classification_of_tableware.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "13.1GB", "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": "Cobot_Magic", "codebase_version": "v2.1", "statistics": { "total_episodes": 406, "total_frames": 347004, "total_tasks": 5, "total_videos": 1218, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:405" }, "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_front_rgb": { "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "on blue table put chopsticks spoon bowls plates into blue grey white boxes.\non brown table put chopsticks spoon bowls plates into blue grey white boxes.\non green table put chopsticks spoon bowls plates into blue grey white boxes.\non grey table put chopsticks spoon bowls plates into blue grey white boxes.\non white black table put chopsticks spoon bowls plates into blue grey white boxes.", "sub_tasks": [ "use the right arm to grab the plate", "use the right arm to grab a chopstick", "use the right arm to put the plate into the large storage box on the left", "use the right arm to put the noodle bowl into the large storage box on the left", "use the right arm to put a chopstick into the small storage box on the right", "use the left arm to put a chopstick into the small storage box on the right", "use the left arm to grab the yellow noodle bowl on the left", "use the left arm to grab a chopstick", "use the left arm to grab the chopsticks", "use the left arm to put the soup spoon into the small storage box in the middle", "use the right arm to grab the soup spoon in the middle", "use the right arm to grab the chopsticks", "use the right arm to put the plate on the tray", "use the right arm to grab the yellow noodle bowl", "use the left arm to grab the soup spoon in the middle", "use the left arm to put the plate into the large storage box on the left", "use the left arm to put the chopsticks into the small storage box on the right", "use the left arm to grab the plate", "use the left arm to put the noodle bowl into the large storage box on the left", "use the right arm to put the soup spoon into the small storage box in the middle", "use the right arm to put the chopsticks into the small storage box on the right", "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_front_rgb", "name": "cam_front_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_front_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Cobot_Magic_classification_of_tableware_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_front_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "classification_of_tableware", "dataset_uuid": null, "task_descriptions": [ "on blue table put chopsticks spoon bowls plates into blue grey white boxes.", "on brown table put chopsticks spoon bowls plates into blue grey white boxes.", "on green table put chopsticks spoon bowls plates into blue grey white boxes.", "on grey table put chopsticks spoon bowls plates into blue grey white boxes.", "on white table put chopsticks spoon bowls plates into blue grey white boxes.", "on white black table put chopsticks spoon bowls plates into blue grey white boxes." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "tablecloth", "level1": "clothing", "level2": "tablecloth", "level3": null, "level4": null, "level5": null }, { "object_name": "bowl", "level1": "container", "level2": "bowl", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "chopsticks", "level1": "tableware", "level2": "chopsticks", "level3": null, "level4": null, "level5": null }, { "object_name": "spoon", "level1": "tableware", "level2": "spoon", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "agilex_cobot_decoupled_magic" ], "end_effector_type": "two_finger_gripper" } }, "Split_aloha_stack_baskets": { "dataset_name": "stack_baskets", "dataset_uuid": "95468603-b11c-4660-b4a3-4ea44675e67f", "scene_type": [ "home", "kitchen" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "basket", "level1": "container", "level2": "basket", "level3": null, "level4": null, "level5": null } ], "path": "Split_aloha_stack_baskets", "video_url": "./assets/videos/Split_aloha_stack_baskets.mp4", "thumbnail_url": "./assets/thumbnails/Split_aloha_stack_baskets.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "17.5GB", "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": "Split_aloha", "codebase_version": "v2.1", "statistics": { "total_episodes": 1066, "total_frames": 474590, "total_tasks": 2, "total_videos": 3198, "total_chunks": 2, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:1065" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_left_wrist_rgb": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_right_wrist_rgb": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.state": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "action": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "timestamp": { "dtype": "float32", "shape": [ 1 ], "names": null }, "frame_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "episode_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "task_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "subtask_annotation": { "names": null, "dtype": "int32", "shape": [ 5 ] }, "scene_annotation": { "names": null, "dtype": "int32", "shape": [ 1 ] }, "eef_sim_pose_state": { "names": [ "left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_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 ] }, "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 ] }, "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 ] } }, "tasks": "the left gripper grasp the black basket and place it in the center of the table, the right gripper grasp the brown basket and place it inside the black one.\nthe left gripper grasp the brown basket and place it in the center of the table, the right gripper grasp the black basket and place it inside the brown one.", "sub_tasks": [ "End", "Grasp the light basket with left gripper", "Move the dark basket to the center of view", "Grasp the dark basket with right gripper", "Place the dark basket on top of the light basket", "Grasp the dark basket with left gripper", "Place the light-colored basket in the center", "Grasp the light basket with right gripper", "Place the dark basket in the center of the table with left gripper", "Place the dark basket on the light basket with right gripper", "Static", "Pick up the light basket with the right gripper", "Place the light basket on the dark basket with right gripper", "Place the light basket on the dark basket", "Place the light basket in the center of the table with 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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "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 } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 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" ] } ], "state": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] } }, "action_space": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Split_aloha_stack_baskets_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│ └── chunk-001/\n│ ├── episode_001000.parquet\n│ ├── episode_001001.parquet\n│ ├── episode_001002.parquet\n│ ├── episode_001003.parquet\n│ ├── episode_001004.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 └── chunk-001/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_001000.mp4\n ├── episode_001001.mp4\n ├── episode_001002.mp4\n ├── episode_001003.mp4\n ├── episode_001004.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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "stack_baskets", "dataset_uuid": null, "task_descriptions": [ "the left gripper grasp the black basket and place it in the center of the table, the right gripper grasp the brown basket and place it inside the black one.", "the left gripper grasp the brown basket and place it in the center of the table, the right gripper grasp the black basket and place it inside the brown one." ], "scene_type": [ "home", "kitchen" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "basket", "level1": "container", "level2": "basket", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "agilex_cobot_magic_aloha" ], "end_effector_type": "two_finger_gripper" } }, "Cobot_Magic_clean_blackboard": { "dataset_name": "clean_blackboard", "dataset_uuid": "8d45e76c-b43b-46c3-b336-dffdcd73de2b", "scene_type": [], "atomic_actions": [ "grasp", "pick", "wipe", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "blackboard", "level1": "office_supplies", "level2": "blackboard", "level3": null, "level4": null, "level5": null }, { "object_name": "blackboard_eraser", "level1": "office_supplies", "level2": "blackboard_eraser", "level3": null, "level4": null, "level5": null } ], "path": "Cobot_Magic_clean_blackboard", "video_url": "./assets/videos/Cobot_Magic_clean_blackboard.mp4", "thumbnail_url": "./assets/thumbnails/Cobot_Magic_clean_blackboard.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "8.0GB", "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": "Cobot_Magic", "codebase_version": "v2.1", "statistics": { "total_episodes": 938, "total_frames": 689349, "total_tasks": 2, "total_videos": 2814, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:937" }, "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.state": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "action": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "timestamp": { "dtype": "float32", "shape": [ 1 ], "names": null }, "frame_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "episode_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "task_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "subtask_annotation": { "names": null, "dtype": "int32", "shape": [ 5 ] }, "scene_annotation": { "names": null, "dtype": "int32", "shape": [ 1 ] }, "eef_sim_pose_state": { "names": [ "left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_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 ] }, "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 ] }, "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 ] } }, "tasks": "pick up the eraser on the blackboard and erase the letter \"a\".\npick up the eraser on the blackboard and erase the letter \"B\".", "sub_tasks": [ "Place the blackboard eraser with the right gripper", "End", "pick up the blackboard eraser with the right gripper", "Erase the letter B use the eraser with the right gripper", "Fixed the drawing board with the left gripper", "Erase the letter a use the eraser with the right gripper", "Grab the eraser with your right hand.", "Hold the drawing board steady with your left hand.", "Erase the letter B with your right hand.", "Put down the eraser with your right hand.", "Secure the drawing board with your left hand.", "Erase the letter a with your right hand.", "Release the drawing board 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 } ], "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" ] } ], "state": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] } }, "action_space": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Cobot_Magic_clean_blackboard_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "clean_blackboard", "dataset_uuid": null, "task_descriptions": [ "pick up the eraser on the blackboard and erase the letter \"a\".", "pick up the eraser on the blackboard and erase the letter \"B\"." ], "atomic_actions": [ "grasp", "pick", "wipe", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "blackboard", "level1": "office_supplies", "level2": "blackboard", "level3": null, "level4": null, "level5": null }, { "object_name": "blackboard_eraser", "level1": "office_supplies", "level2": "blackboard_eraser", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "agilex_cobot_decoupled_magic" ], "end_effector_type": "two_finger_gripper" } }, "R1_Lite_cook_a_meal": { "dataset_name": "cook_a_meal", "dataset_uuid": "e717e360-f72c-4b13-aa1f-f10657b9b68d", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place", "open", "pressbutton", "close", "flip" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "bowl", "level1": "container", "level2": "bowl", "level3": null, "level4": null, "level5": null }, { "object_name": "rice_cooker", "level1": "electric_appliance", "level2": "rice_cooker", "level3": null, "level4": null, "level5": null }, { "object_name": "rice", "level1": "food", "level2": "rice", "level3": null, "level4": null, "level5": null }, { "object_name": "tap", "level1": "tool", "level2": "tap", "level3": null, "level4": null, "level5": null }, { "object_name": "chopped_scallions", "level1": "food", "level2": "chopped_scallions", "level3": null, "level4": null, "level5": null }, { "object_name": "water", "level1": "drink", "level2": "water", "level3": null, "level4": null, "level5": null } ], "path": "R1_Lite_cook_a_meal", "video_url": "./assets/videos/R1_Lite_cook_a_meal.mp4", "thumbnail_url": "./assets/thumbnails/R1_Lite_cook_a_meal.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "7.9GB", "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": "R1_Lite", "codebase_version": "v2.1", "statistics": { "total_episodes": 82, "total_frames": 161442, "total_tasks": 1, "total_videos": 246, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:81" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "put rice water scallions into rice cooker press start button.", "sub_tasks": [ "Turn off the faucet with the right gripper", "Pour water into the rice cooker with the left gripper", "Grab the bowl with the right gripper", "Turn on the faucet with the left gripper", "Pour the rice from the bowl into the rice cooker", "Put the bowl on the table with the left gripper", "Open the rice cooker with the right gripper", "End", "Pour the water from the bowl into the rice cooker", "Grab the bowl with the left gripper", "Pick up the bowl on the table", "Abnormal", "Close the rice cooker", "Turn off the rice cooker with the both gripper", "Turn off the tap", "Place the bowl on the table", "Turn off the faucet with the left gripper", "Open the rice cooker", "Pour water into the rice cooker with the right gripper", "Turn on the tap", "Put the bowl under the faucet with the right gripper", "Press the start button", "Put the bowl under the faucet with the left gripper", "Put the bowl on the table with the right gripper", "Fill a bowl with water from the tap", "Pour the chopped green onions from the bowl into the rice cooker", "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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "R1_Lite_cook_a_meal_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "cook_a_meal", "dataset_uuid": null, "task_descriptions": [ "put rice water scallions into rice cooker press start button." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place", "open", "pressbutton", "close", "flip" ], "objects": [ { "object_name": "bowl", "level1": "container", "level2": "bowl", "level3": null, "level4": null, "level5": null }, { "object_name": "rice_cooker", "level1": "electric_appliance", "level2": "rice_cooker", "level3": null, "level4": null, "level5": null }, { "object_name": "rice", "level1": "food", "level2": "rice", "level3": null, "level4": null, "level5": null }, { "object_name": "tap", "level1": "tool", "level2": "tap", "level3": null, "level4": null, "level5": null }, { "object_name": "chopped_scallions", "level1": "food", "level2": "chopped_scallions", "level3": null, "level4": null, "level5": null }, { "object_name": "water", "level1": "drink", "level2": "water", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "galaxea_r1_lite" ], "end_effector_type": "two_finger_gripper" } }, "G1edu-u3_pick_up_the_lemon_a": { "dataset_name": "pick_up_the_lemon_a", "dataset_uuid": "4941259a-6f5a-49a6-b04e-e52c4e5759dc", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick" ], "end_effector_type": [ "three_finger_hand" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "lemon", "level1": "fruit", "level2": "lemon", "level3": null, "level4": null, "level5": null } ], "path": "G1edu-u3_pick_up_the_lemon_a", "video_url": "./assets/videos/G1edu-u3_pick_up_the_lemon_a.mp4", "thumbnail_url": "./assets/thumbnails/G1edu-u3_pick_up_the_lemon_a.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "1K-10K", "dataset_size": "107.6MB", "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": "G1edu-u3", "codebase_version": "v2.1", "statistics": { "total_episodes": 23, "total_frames": 8915, "total_tasks": 1, "total_videos": 23, "total_chunks": 1, "chunks_size": 23, "fps": 30 }, "splits": { "train": "0:22" }, "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.ego_view": { "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.state": { "dtype": "float32", "shape": [ 30 ], "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": [ 30 ], "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": "float64", "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": "Pick up the red apple\nPick up the red apple\nPick up the water bottle\nPick up the water bottle\nPick up the white cup\nPick up the lemon\nPlace the red apple\nPlace the red apple in the basket\nPlace the red apple on the blue rectangle plate\nPlace the red apple on the orange round plate\nPlace the water bottle\nPlace the water bottle\nPlace the white cup\nPlace the lemon on the blue rectangle plate\nPlace the lemon on the orange round plate", "sub_tasks": [ "End", "Grasp the lemon and lift it to the center of the view with left gripper", "Grasp the lemon and lift it to the center of the view with right 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.ego_view", "name": "ego_view", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.ego_view", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channel" ] } ], "state": { "dtype": "float32", "shape": [ 30 ], "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_space": { "dtype": "float32", "shape": [ 30 ], "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "G1edu-u3_pick_up_the_lemon_a_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.ego_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "pick_up_the_lemon_a", "dataset_uuid": null, "task_descriptions": [ "pick up the lemon on the table." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "lemon", "level1": "fruit", "level2": "lemon", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "unitree_g1" ], "end_effector_type": "three_finger_hand" } }, "AIRBOT_MMK2_place_the_paper_drawer": { "dataset_name": "place_the_paper_drawer", "dataset_uuid": "36dde00a-6af9-43ec-9c49-3b938ff6f736", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "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": "pallet", "level1": "container", "level2": "pallet", "level3": null, "level4": null, "level5": null }, { "object_name": "tissue_paper", "level1": "daily_necessities", "level2": "tissue_paper", "level3": null, "level4": null, "level5": null }, { "object_name": "calculator_box", "level1": "container", "level2": "calculator_box", "level3": null, "level4": null, "level5": null }, { "object_name": "power_bank_box", "level1": "container", "level2": "power_bank_box", "level3": null, "level4": null, "level5": null }, { "object_name": "lid", "level1": "container", "level2": "lid", "level3": null, "level4": null, "level5": null }, { "object_name": "mineral_water_bottle", "level1": "container", "level2": "mineral_water_bottle", "level3": null, "level4": null, "level5": null }, { "object_name": "tape_measure", "level1": "tools", "level2": "tape_measure", "level3": null, "level4": null, "level5": null }, { "object_name": "snacks", "level1": "food", "level2": "snacks", "level3": null, "level4": null, "level5": null }, { "object_name": "cake", "level1": "food", "level2": "cake", "level3": null, "level4": null, "level5": null }, { "object_name": "croissant", "level1": "food", "level2": "croissant", "level3": null, "level4": null, "level5": null }, { "object_name": "apple", "level1": "fruit", "level2": "apple", "level3": null, "level4": null, "level5": null }, { "object_name": "peach", "level1": "fruit", "level2": "peach", "level3": null, "level4": null, "level5": null }, { "object_name": "pear", "level1": "fruit", "level2": "pear", "level3": null, "level4": null, "level5": null }, { "object_name": "pomegranate", "level1": "fruit", "level2": "pomegranate", "level3": null, "level4": null, "level5": null }, { "object_name": "orange", "level1": "fruit", "level2": "orange", "level3": null, "level4": null, "level5": null }, { "object_name": "beverage", "level1": "juice", "level2": "beverage", "level3": null, "level4": null, "level5": null }, { "object_name": "coffee", "level1": "juice", "level2": "coffee", "level3": null, "level4": null, "level5": null }, { "object_name": "building_blocks", "level1": "toy", "level2": "building_blocks", "level3": null, "level4": null, "level5": null }, { "object_name": "marble", "level1": "toy", "level2": "marble", "level3": null, "level4": null, "level5": null }, { "object_name": "toy_car", "level1": "toy", "level2": "toy_car", "level3": null, "level4": null, "level5": null }, { "object_name": "frying_pan", "level1": "container", "level2": "frying_pan", "level3": null, "level4": null, "level5": null }, { "object_name": "mouse_box", "level1": "container", "level2": "mouse_box", "level3": null, "level4": null, "level5": null }, { "object_name": "shark_dagger", "level1": "toy", "level2": "shark_dagger", "level3": null, "level4": null, "level5": null }, { "object_name": "sponge", "level1": "daily_necessities", "level2": "sponge", "level3": null, "level4": null, "level5": null }, { "object_name": "bowl", "level1": "container", "level2": "bowl", "level3": null, "level4": null, "level5": null }, { "object_name": "steel_frame", "level1": "daily_necessities", "level2": "steel_frame", "level3": null, "level4": null, "level5": null }, { "object_name": "red_cube", "level1": "block", "level2": "red_cube", "level3": null, "level4": null, "level5": null } ], "path": "AIRBOT_MMK2_place_the_paper_drawer", "video_url": "./assets/videos/AIRBOT_MMK2_place_the_paper_drawer.mp4", "thumbnail_url": "./assets/thumbnails/AIRBOT_MMK2_place_the_paper_drawer.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "5.8GB", "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": 688, "total_frames": 167196, "total_tasks": 15, "total_videos": 2752, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:687" }, "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": "pick up the steel frame with both hands and place it on the table.\nTake out two packs of vacuum paper from the white tray one after the other and place them on the table.\nWhile picking up the calculator case with one hand, also pick up the power bank case with the other hand, then place both items one after the other.\nPick up the mineral water bottle and then the tape measure from the white lid and place each one on the table.\nHold the snacks and the box ruler and place them on the platform at the same time.\nPlace the apple, then the peach, and finally the pear in their respective positions.\nPlace the apple, then the pomegranate, and finally the orange in their respective positions.\nTake out the drink and then the coffee cup from the white lid and place each one on the table.\nPick up the cake from the plate and place it on the table, then pick up the strip-shaped bread from the table and put it on the plate.\nTake the building blocks and then the bb marbles from the plate and place each one on the table.\nTake out the green cart and then the yellow cart from the plate and place each one on the table.\nPush the pan to one side of the table and place it on the red cube.\nTake the mouse box and then the calculator box off the white cover.\nat the same time, both hands picked up the shark dagger on the table and placed it on the white lid.\nTake the sponge and then the bowl out of the white lid and place each one on the table.", "sub_tasks": [ "Place the pomegranate on the middle of the table with the right gripper", "Place the steel tube on the table with the left gripper", "Grasp the bowl on the white basket and with the right gripper", "Grasp the green rectangular block on the plate with the left gripper", "Place the mineral water on the table with the left gripper", "Place the bagged waffle on the carton with the left gripper", "Place the green rectangular block on the table with the left gripper", "Grasp the tape measure with the right gripper", "Grasp the tissue on the white lid with the left gripper", "Grasp the vitamin B water on the white lid with the left gripper", "Place the shark dagger on the white basket with the right gripper", "Place the tape measure on the table with the right gripper", "Place the tissue on the table with the right gripper", "Place the sponge on the table with the left gripper", "Grasp the apple with the left gripper", "Place the apple on the left side of the table with the left gripper", "Grasp the pear with the right gripper", "Place the pear on the right side of the table with the right gripper", "Place the calculator box into the storage box with the right gripper", "Grasp the coffee on the white lid with the right gripper", "Grasp the bread with the right gripper", "Grasp the frying pan with the right gripper", "Grasp the phone case box with the left gripper", "Place the calculator box into the storage box with the left gripper", "Grasp the mouse box on the white lid and with the left gripper", "Grasp the orange with the right gripper", "Place the bowl on the table with the right gripper", "Grasp the pomegranate with the right gripper", "Grasp the tissue on the white lid with the right gripper", "Place the coffee on the table with the right gripper", "Place the bread into the plate with the right gripper", "Grasp the calculator box with the left gripper", "Abnormal", "Grasp the steel tube on the cube block with the right gripper", "Place the vitamin B water on the table with the left gripper", "Grasp the toy car on the plate and with the right gripper", "Grasp the peach with the left gripper", "Place the tape measure on the carton with the right gripper", "Place the phone case box into the storage box with the right gripper", "Grasp the cake on the plate with the left gripper", "Place the phone case box into the storage box with the left gripper", "Grasp the toy car on the plate and with the left gripper", "Grasp the calculator box on the white lid and with the right gripper", "Grasp the shark dagger with the left gripper", "Grasp the bagged waffle with the left gripper", "Grasp the mineral water with the left gripper", "Place the pomegranate on the middle of the table with the left gripper", "Grasp the sponge on the white basket and with the left gripper", "Place the peach on the middle of the table with the left gripper", "Place the shark dagger on the white basket with the left gripper", "Push the frying pan on left to right with the left gripper", "Place the steel tube on the table with the right gripper", "End", "Place the tissue on the table with the left gripper", "Grasp the phone case box with the right gripper", "Place the orange on the right side of the table with the right gripper", "Grasp the shark dagger with the right gripper", "Place the cake on the table with the left gripper", "Place the toy car on the table with the left gripper", "Place the toy car on the table with the right gripper", "Grasp the steel tube on the cube block with the left gripper", "Place the calculator box on the table with the right gripper", "Place the mouse box on the table with the left gripper", "Grasp the bullet on the plate with the right gripper", "Place the frying pan on the red cube block with the right gripper", "Place the coffee on the table with the left gripper", "Grasp the calculator box with the right gripper", "Static", "Place the bullet on the table with the right 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_place_the_paper_drawer_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "place_goods", "dataset_uuid": null, "task_descriptions": [ "take out a pack of tissue paper from the white tray with your left hand and place it on the table. then, take out another pack of tissue paper from the white tray with your right hand and place it on the table.", "while picking up the calculator box with the left hand, he also picked up the power bank box with the right hand. then place your left hand first and then your right hand.", "pick up the mineral water bottle on the white lid with your left hand and place it on the table. then, pick up the tape measure on the white lid with your right hand and put it on the table.", "hold the snacks in your left hand and the tape measure in your right hand, and place them on the platform at the same time.", "place the apple on the left with your left hand, and then put the peach in the middle with your left hand. finally, place the pear on the right side with your right hand.", "place the apple on the left with your left hand, then put the pomegranate in the middle with your right hand, and finally place the orange on the right with your right hand.", "take out the beverage from the white lid with your left hand and place it on the table. then, take out the coffee cup from the white lid with your right hand and place it on the table.", "pick up the cake from the plate with your left hand and place it on the table. then, with your right hand, pick up the coissant from the table and put it on the plate.", "take the building blocks from the plate with your left hand and place them on the table, then take the marble from the plate with your right hand and put them on the table.", "take out the green car from the plate with your left hand and place it on the table, then take out the yellow car from the plate with your right hand and place it on the table.", "push the pan to the right side of the table with your left hand and place it on the red cube with your right hand.", "take the mouse box off the white cover with your left hand, and then take the calculator box off the white cover with your right hand.", "at the same time, both hands picked up the shark dagger on the table and placed it on the white lid.", "take the sponge out of the white lid with your left hand and place it on the table. then, take the bowl out of the white lid with your right hand and place it on the table.", "pick up the steel frame with both hands and place it on the table." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "pallet", "level1": "container", "level2": "pallet", "level3": null, "level4": null, "level5": null }, { "object_name": "tissue_paper", "level1": "daily_necessities", "level2": "tissue_paper", "level3": null, "level4": null, "level5": null }, { "object_name": "calculator_box", "level1": "container", "level2": "calculator_box", "level3": null, "level4": null, "level5": null }, { "object_name": "power_bank_box", "level1": "container", "level2": "power_bank_box", "level3": null, "level4": null, "level5": null }, { "object_name": "lid", "level1": "container", "level2": "lid", "level3": null, "level4": null, "level5": null }, { "object_name": "mineral_water_bottle", "level1": "container", "level2": "mineral_water_bottle", "level3": null, "level4": null, "level5": null }, { "object_name": "tape_measure", "level1": "tools", "level2": "tape_measure", "level3": null, "level4": null, "level5": null }, { "object_name": "snacks", "level1": "food", "level2": "snacks", "level3": null, "level4": null, "level5": null }, { "object_name": "cake", "level1": "food", "level2": "cake", "level3": null, "level4": null, "level5": null }, { "object_name": "croissant", "level1": "food", "level2": "croissant", "level3": null, "level4": null, "level5": null }, { "object_name": "apple", "level1": "fruit", "level2": "apple", "level3": null, "level4": null, "level5": null }, { "object_name": "peach", "level1": "fruit", "level2": "peach", "level3": null, "level4": null, "level5": null }, { "object_name": "pear", "level1": "fruit", "level2": "pear", "level3": null, "level4": null, "level5": null }, { "object_name": "pomegranate", "level1": "fruit", "level2": "pomegranate", "level3": null, "level4": null, "level5": null }, { "object_name": "orange", "level1": "fruit", "level2": "orange", "level3": null, "level4": null, "level5": null }, { "object_name": "beverage", "level1": "juice", "level2": "beverage", "level3": null, "level4": null, "level5": null }, { "object_name": "coffee", "level1": "juice", "level2": "coffee", "level3": null, "level4": null, "level5": null }, { "object_name": "building_blocks", "level1": "toy", "level2": "building_blocks", "level3": null, "level4": null, "level5": null }, { "object_name": "marble", "level1": "toy", "level2": "marble", "level3": null, "level4": null, "level5": null }, { "object_name": "toy_car", "level1": "toy", "level2": "toy_car", "level3": null, "level4": null, "level5": null }, { "object_name": "frying_pan", "level1": "container", "level2": "frying_pan", "level3": null, "level4": null, "level5": null }, { "object_name": "mouse_box", "level1": "container", "level2": "mouse_box", "level3": null, "level4": null, "level5": null }, { "object_name": "shark_dagger", "level1": "toy", "level2": "shark_dagger", "level3": null, "level4": null, "level5": null }, { "object_name": "sponge", "level1": "daily_necessities", "level2": "sponge", "level3": null, "level4": null, "level5": null }, { "object_name": "bowl", "level1": "container", "level2": "bowl", "level3": null, "level4": null, "level5": null }, { "object_name": "steel_frame", "level1": "daily_necessities", "level2": "steel_frame", "level3": null, "level4": null, "level5": null }, { "object_name": "red_cube", "level1": "block", "level2": "red_cube", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "airbot mmk2" ], "end_effector_type": "five_finger_hand" } }, "AIRBOT_MMK2_storage_toy_cars_and_cookies": { "dataset_name": "storage_toy_cars_and_cookies", "dataset_uuid": "47323a9b-f930-4dcb-b755-7483052a8032", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "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": "toy_car", "level1": "toy", "level2": "toy_car", "level3": null, "level4": null, "level5": null }, { "object_name": "cookies", "level1": "food", "level2": "cookies", "level3": null, "level4": null, "level5": null }, { "object_name": "lid", "level1": "daily necessities", "level2": "lid", "level3": null, "level4": null, "level5": null } ], "path": "AIRBOT_MMK2_storage_toy_cars_and_cookies", "video_url": "./assets/videos/AIRBOT_MMK2_storage_toy_cars_and_cookies.mp4", "thumbnail_url": "./assets/thumbnails/AIRBOT_MMK2_storage_toy_cars_and_cookies.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "1K-10K", "dataset_size": "277.6MB", "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": 50, "total_frames": 8388, "total_tasks": 1, "total_videos": 200, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:49" }, "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": "Pick up the red toy car in one hand and the blue packaged cookies in the other, then place both items on the round lid.", "sub_tasks": [ "Abnormal", "Place the cookies on the pink plate with the right gripper", "Place the toy car on the pink plate with the left gripper", "Static", "Grasp the toy car with left gripper and grasp the cookies with the right gripper", "End", "Lift the toy car with left gripper and lift the cookies with the right 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_storage_toy_cars_and_cookies_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "storage_toy_cars_and_cookies", "dataset_uuid": null, "task_descriptions": [ "with the left hand, pick up the red toy car and with the right hand, pick up the blue packaged cookies, with the left hand, place the red toy car on the round lid, with the right hand, put the blue packaged cookies on the round lid." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "toy_car", "level1": "toy", "level2": "toy_car", "level3": null, "level4": null, "level5": null }, { "object_name": "cookies", "level1": "food", "level2": "cookies", "level3": null, "level4": null, "level5": null }, { "object_name": "lid", "level1": "daily necessities", "level2": "lid", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "airbot mmk2" ], "end_effector_type": "two_finger_gripper" } }, "leju_robot_box_storage_parcel_c": { "dataset_name": "box_storage_parcel_c", "dataset_uuid": "3c05a32c-9807-467b-b1a5-2f7f3fe27928", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "five_finger_hand" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "parcel", "level1": "container", "level2": "parcel", "level3": null, "level4": null, "level5": null }, { "object_name": "conveyor_belt", "level1": "tool", "level2": "conveyor_belt", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null } ], "path": "leju_robot_box_storage_parcel_c", "video_url": "./assets/videos/leju_robot_box_storage_parcel_c.mp4", "thumbnail_url": "./assets/thumbnails/leju_robot_box_storage_parcel_c.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "9.6GB", "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": "leju_robot", "codebase_version": "v2.1", "statistics": { "total_episodes": 493, "total_frames": 187995, "total_tasks": 1, "total_videos": 1479, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:492" }, "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.camera_head_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_left_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_right_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "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": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] }, "action": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "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": "Weigh the package on the weighing device and place it in the left basket.", "sub_tasks": [ "Place the package onto the inbound machine.", "Place the package into the parcel locker.", "Pick up the package from the inbound machine.", "Pick up the package from the conveyor belt.", "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.camera_head_rgb", "name": "camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_left_wrist_rgb", "name": "camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_right_wrist_rgb", "name": "camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] } }, "action_space": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "leju_robot_box_storage_parcel_c_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.camera_head_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.camera_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.camera_right_wrist_rgb/\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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "box_storage_parcel_c", "dataset_uuid": null, "task_descriptions": [ "move the parcel with right hand from conveyor to table and then move the parcel to the left box with left hand." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "parcel", "level1": "container", "level2": "parcel", "level3": null, "level4": null, "level5": null }, { "object_name": "conveyor_belt", "level1": "tool", "level2": "conveyor_belt", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "leju_kuavo_4_pro" ], "end_effector_type": "five_finger_gripper" } }, "G1edu-u3_put_the_water_bottle_on_the_table_d": { "dataset_name": "put_the_water_bottle_on_the_table_d", "dataset_uuid": "7f724d35-f01a-4eaa-a398-60449a270f33", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place" ], "end_effector_type": [ "three_finger_hand" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "bottle", "level1": "container", "level2": "bottle", "level3": null, "level4": null, "level5": null }, { "object_name": "water", "level1": "drink", "level2": "water", "level3": null, "level4": null, "level5": null } ], "path": "G1edu-u3_put_the_water_bottle_on_the_table_d", "video_url": "./assets/videos/G1edu-u3_put_the_water_bottle_on_the_table_d.mp4", "thumbnail_url": "./assets/thumbnails/G1edu-u3_put_the_water_bottle_on_the_table_d.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "1K-10K", "dataset_size": "82.6MB", "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": "G1edu-u3", "codebase_version": "v2.1", "statistics": { "total_episodes": 32, "total_frames": 6580, "total_tasks": 1, "total_videos": 32, "total_chunks": 1, "chunks_size": 32, "fps": 30 }, "splits": { "train": "0:31" }, "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.ego_view": { "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.state": { "dtype": "float32", "shape": [ 30 ], "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": [ 30 ], "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": "float64", "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": "Pick up the red apple\nPick up the red apple\nPick up the water bottle\nPick up the water bottle\nPick up the white cup\nPick up the lemon\nPlace the red apple\nPlace the red apple in the basket\nPlace the red apple on the blue rectangle plate\nPlace the red apple on the orange round plate\nPlace the water bottle\nPlace the water bottle\nPlace the white cup\nPlace the lemon on the blue rectangle plate\nPlace the lemon on the orange round plate", "sub_tasks": [ "Place the water bottle on the table with left gripper", "End", "Place the water bottle on the table with right 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.ego_view", "name": "ego_view", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.ego_view", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channel" ] } ], "state": { "dtype": "float32", "shape": [ 30 ], "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_space": { "dtype": "float32", "shape": [ 30 ], "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "G1edu-u3_put_the_water_bottle_on_the_table_d_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.ego_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "put_the_water_bottle_on_the_table_d", "dataset_uuid": null, "task_descriptions": [ "put the water bottle on the table." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "bottle", "level1": "container", "level2": "bottle", "level3": null, "level4": null, "level5": null }, { "object_name": "water", "level1": "drink", "level2": "water", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "unitree_g1" ], "end_effector_type": "three_finger_hand" } }, "AIRBOT_MMK2_desktop_storage": { "dataset_name": "desktop_storage", "dataset_uuid": "d50796e5-0306-40cf-8b49-547630740ce6", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "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": "mouse_box", "level1": "container", "level2": "mouse_box", "level3": null, "level4": null, "level5": null }, { "object_name": "calculator_box", "level1": "container", "level2": "calculator_box", "level3": null, "level4": null, "level5": null }, { "object_name": "coffee_cup", "level1": "container", "level2": "coffee_cup", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null } ], "path": "AIRBOT_MMK2_desktop_storage", "video_url": "./assets/videos/AIRBOT_MMK2_desktop_storage.mp4", "thumbnail_url": "./assets/thumbnails/AIRBOT_MMK2_desktop_storage.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "1K-10K", "dataset_size": "171.0MB", "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": 13, "total_frames": 3939, "total_tasks": 1, "total_videos": 52, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:12" }, "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": "Stack the mouse box on top of the computer box with one hand and place the coffee cup on the plate with the other.", "sub_tasks": [ "Place the mouse box on the calculator box with the left gripper", "Grasp the coffee with the right gripper", "Grasp the mouse box with the left gripper", "Static", "Place the coffee into the plate with the right gripper", "End", "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_desktop_storage_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "desktop_storage", "dataset_uuid": null, "task_descriptions": [ "place the mouse box on top of the calculator box with your left hand and place the coffee cup on the plate with your right hand." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "mouse_box", "level1": "container", "level2": "mouse_box", "level3": null, "level4": null, "level5": null }, { "object_name": "calculator_box", "level1": "container", "level2": "calculator_box", "level3": null, "level4": null, "level5": null }, { "object_name": "coffee_cup", "level1": "container", "level2": "coffee_cup", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "airbot mmk2" ], "end_effector_type": "five_finger_hand" } }, "leju_robot_hotel_services_h": { "dataset_name": "hotel_services_h", "dataset_uuid": "c14b0609-dd8c-4b81-9f81-e1d77b899e9e", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "five_finger_hand" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "card", "level1": "nfc", "level2": "card", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "sensor", "level1": "electronic_products", "level2": "sensor", "level3": null, "level4": null, "level5": null } ], "path": "leju_robot_hotel_services_h", "video_url": "./assets/videos/leju_robot_hotel_services_h.mp4", "thumbnail_url": "./assets/thumbnails/leju_robot_hotel_services_h.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "2.3GB", "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": "leju_robot", "codebase_version": "v2.1", "statistics": { "total_episodes": 205, "total_frames": 35880, "total_tasks": 1, "total_videos": 615, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:204" }, "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.camera_head_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_left_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_right_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "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": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "action": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "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": "Pick up the card and hand it over to the target person.", "sub_tasks": [ "Hand the key card to the target.", "Pick up the key card from the card box.", "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.camera_head_rgb", "name": "camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_left_wrist_rgb", "name": "camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_right_wrist_rgb", "name": "camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] } }, "action_space": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "leju_robot_hotel_services_h_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.camera_head_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.camera_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.camera_right_wrist_rgb/\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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "hotel_services_h", "dataset_uuid": null, "task_descriptions": [ "take out the card place it on the sensor for recognition and then transfer it." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "card", "level1": "nfc", "level2": "card", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "sensor", "level1": "electronic_products", "level2": "sensor", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "leju_robot" ], "end_effector_type": "two_finger_gripper" } }, "Cobot_Magic_pot_storage_steamer": { "dataset_name": "pot_storage_steamer", "dataset_uuid": "0416c89e-0f94-4be0-858c-9a8f3a1ed758", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "steamer", "level1": "container", "level2": "steamer", "level3": null, "level4": null, "level5": null }, { "object_name": "tablecloth", "level1": "clothing", "level2": "tablecloth", "level3": null, "level4": null, "level5": null }, { "object_name": "pot", "level1": "container", "level2": "pot", "level3": null, "level4": null, "level5": null }, { "object_name": "lid", "level1": "daily_necessities", "level2": "lid", "level3": null, "level4": null, "level5": null } ], "path": "Cobot_Magic_pot_storage_steamer", "video_url": "./assets/videos/Cobot_Magic_pot_storage_steamer.mp4", "thumbnail_url": "./assets/thumbnails/Cobot_Magic_pot_storage_steamer.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "19.7GB", "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": "Cobot_Magic", "codebase_version": "v2.1", "statistics": { "total_episodes": 590, "total_frames": 478978, "total_tasks": 6, "total_videos": 1770, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:589" }, "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_front_rgb": { "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "place the steamer in the pot on the blue tablecloth, and put the lid on the steamer.\nplace the steamer in the pot on the green tablecloth, and put the lid on the steamer.\nplace the steamer in the pot on the grey tablecloth, and put the lid on the steamer.\nplace the steamer in the pot on the pink tablecloth, and put the lid on the steamer.\nplace the steamer in the pot on the white tablecloth, and put the lid on the steamer.\nplace the steamer in the pot on the white table, and put the lid on the steamer.", "sub_tasks": [ "use the left arm to place the steamer lid on the steamer", "use the right arm to lift the steamer closest to it", "use the left arm to put the steamer into the iron steamer pot in the middle", "use the right arm to lift the lid of the steamer", "use the right arm to place the steamer lid on the steamer", "use the left arm to lift the lid of the steamer", "use the right arm to put the steamer into the iron steamer pot in the middle", "use the left arm to lift the steamer closest to it", "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_front_rgb", "name": "cam_front_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_front_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Cobot_Magic_pot_storage_steamer_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_front_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "pot_storage_steamer", "dataset_uuid": null, "task_descriptions": [ "place steamer in pot on blue tablecloth put lid on steamer.", "place steamer in pot on green tablecloth put lid on steamer.", "place steamer in pot on grey tablecloth put lid on steamer.", "place steamer in pot on pink tablecloth put lid on steamer.", "place steamer in pot on white table put lid on steamer.", "place steamer in pot on white tablecloth put lid on steamer." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "steamer", "level1": "container", "level2": "steamer", "level3": null, "level4": null, "level5": null }, { "object_name": "tablecloth", "level1": "clothing", "level2": "tablecloth", "level3": null, "level4": null, "level5": null }, { "object_name": "pot", "level1": "container", "level2": "pot", "level3": null, "level4": null, "level5": null }, { "object_name": "lid", "level1": "daily_necessities", "level2": "lid", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "agilex_cobot_decoupled_magic" ], "end_effector_type": "two_finger_gripper" } }, "Cobot_Magic_close_button": { "dataset_name": "close_button", "dataset_uuid": "477f8a4a-e9ab-4a19-ad78-62aca316cbea", "scene_type": [ "home" ], "atomic_actions": [ "press" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "button", "level1": "electric_appliance", "level2": "button", "level3": null, "level4": null, "level5": null }, { "object_name": "tablecloth", "level1": "clothing", "level2": "tablecloth", "level3": null, "level4": null, "level5": null } ], "path": "Cobot_Magic_close_button", "video_url": "./assets/videos/Cobot_Magic_close_button.mp4", "thumbnail_url": "./assets/thumbnails/Cobot_Magic_close_button.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "1.8GB", "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": "Cobot_Magic", "codebase_version": "v2.1", "statistics": { "total_episodes": 60, "total_frames": 18136, "total_tasks": 6, "total_videos": 180, "total_chunks": 1, "chunks_size": 1000, "fps": 50 }, "splits": { "train": "0:59" }, "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": 50, "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": 50, "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": 50, "video.channels": 3, "has_audio": false } }, "observation.state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "press the button switch on the cyan tablecloth with the left gripper to turn off the button.\npress the button switch on the grey tablecloth with the left gripper to turn off the button.\npress the button switch with the left gripper to turn off the button.\npress the button switch on the cyan tablecloth with the right gripper to turn off the button.\npress the button switch on the grey tablecloth with the right gripper to turn off the button.\npress the button switch with the right claw to turn off the button.", "sub_tasks": [ "end", "Press the first switch from the left on the right side.", "Press the button to turn off", "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": 50, "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": 50, "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": 50, "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" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Cobot_Magic_close_button_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "close_button", "dataset_uuid": null, "task_descriptions": [ "press the button switch with the left gripper to turn off the button.", "left gripper press grey cloth button switch turn off button.", "left gripper press cyan cloth button switch turn off button.", "press the button switch with the right claw to turn off the button.", "right gripper press grey cloth button switch turn off button.", "right gripper press cyan cloth button switch turn off button." ], "scene_type": [ "home" ], "atomic_actions": [ "press" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "button", "level1": "electric_appliance", "level2": "button", "level3": null, "level4": null, "level5": null }, { "object_name": "tablecloth", "level1": "clothing", "level2": "tablecloth", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "agilex_cobot_decoupled_magic" ], "end_effector_type": "two_finger_gripper" } }, "R1_Lite_open_and_close_nightstand_door": { "dataset_name": "open_and_close_nightstand_door", "dataset_uuid": "20a3b9fb-6772-4fbe-b39d-00e54dfb1b57", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place", "push" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "nightstand", "level1": "furniture", "level2": "nightstand", "level3": null, "level4": null, "level5": null }, { "object_name": "basket", "level1": "container", "level2": "basket", "level3": null, "level4": null, "level5": null }, { "object_name": "pillow", "level1": "clothing", "level2": "pillow", "level3": null, "level4": null, "level5": null }, { "object_name": "bag", "level1": "container", "level2": "bag", "level3": null, "level4": null, "level5": null }, { "object_name": "blue_doll", "level1": "toy", "level2": "blue_doll", "level3": null, "level4": null, "level5": null }, { "object_name": "green_doll", "level1": "toy", "level2": "green_doll", "level3": null, "level4": null, "level5": null }, { "object_name": "pink_doll", "level1": "toy", "level2": "pink_doll", "level3": null, "level4": null, "level5": null } ], "path": "R1_Lite_open_and_close_nightstand_door", "video_url": "./assets/videos/R1_Lite_open_and_close_nightstand_door.mp4", "thumbnail_url": "./assets/thumbnails/R1_Lite_open_and_close_nightstand_door.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "11.8GB", "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": "R1_Lite", "codebase_version": "v2.1", "statistics": { "total_episodes": 100, "total_frames": 274445, "total_tasks": 1, "total_videos": 300, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:99" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "put items on nightstand lower then higher shelf and close.", "sub_tasks": [ "Place the green doll on the lower shelf", "Close the nightstand door", "Place the basket on the lower shelf", "Place the pillow on the higher shelf", "Place the blue doll on the higher shelf", "End", "Place the pillow on the lower shelf", "Place the blue doll on the lower shelf", "abnormal", "Place the bag on the lower shelf", "Place the bag on the higher shelf", "Open the nightstand door", "Place the basket on the higher shelf", "Place the green doll on the higher shelf", "Place the pink doll on the lower shelf", "Place the pink doll on the higher shelf", "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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "R1_Lite_open_and_close_nightstand_door_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "place_dolls", "dataset_uuid": null, "task_descriptions": [ "open the cabinet door and place the doll from the top to the bottom, then from the bottom to the top. close the cabinet door." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place", "push" ], "objects": [ { "object_name": "nightstand", "level1": "furniture", "level2": "nightstand", "level3": null, "level4": null, "level5": null }, { "object_name": "basket", "level1": "container", "level2": "basket", "level3": null, "level4": null, "level5": null }, { "object_name": "pillow", "level1": "clothing", "level2": "pillow", "level3": null, "level4": null, "level5": null }, { "object_name": "bag", "level1": "container", "level2": "bag", "level3": null, "level4": null, "level5": null }, { "object_name": "blue_doll", "level1": "toy", "level2": "blue_doll", "level3": null, "level4": null, "level5": null }, { "object_name": "green_doll", "level1": "toy", "level2": "green_doll", "level3": null, "level4": null, "level5": null }, { "object_name": "pink_doll", "level1": "toy", "level2": "pink_doll", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "galaxea_r1_lite" ], "end_effector_type": "two_finger_gripper" } }, "R1_Lite_move_the_position_of_the_glass": { "dataset_name": "move_the_position_of_the_glass", "dataset_uuid": "8ac8771b-807d-43fe-ad24-200934007490", "scene_type": [ "home" ], "atomic_actions": [ "place", "pick", "grasp" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "pen", "level1": "office_supplies", "level2": "pen", "level3": null, "level4": null, "level5": null }, { "object_name": "banana", "level1": "fruit", "level2": "banana", "level3": null, "level4": null, "level5": null }, { "object_name": "bath_ball", "level1": "daily_necessities", "level2": "bath_ball", "level3": null, "level4": null, "level5": null }, { "object_name": "bowl", "level1": "container", "level2": "bowl", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "can", "level1": "container", "level2": "can", "level3": null, "level4": null, "level5": null }, { "object_name": "eraser", "level1": "office_supplies", "level2": "eraser", "level3": null, "level4": null, "level5": null }, { "object_name": "hard_cleanser", "level1": "daily_necessities", "level2": "hard_cleanser", "level3": null, "level4": null, "level5": null }, { "object_name": "long_bread", "level1": "food", "level2": "long_bread", "level3": null, "level4": null, "level5": null }, { "object_name": "peeler", "level1": "tool", "level2": "peeler", "level3": null, "level4": null, "level5": null }, { "object_name": "block", "level1": "toy", "level2": "block", "level3": null, "level4": null, "level5": null }, { "object_name": "duck", "level1": "toy", "level2": "duck", "level3": null, "level4": null, "level5": null }, { "object_name": "soap", "level1": "daily_necessities", "level2": "soap", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "basket", "level1": "container", "level2": "basket", "level3": null, "level4": null, "level5": null }, { "object_name": "cola", "level1": "drink", "level2": "cola", "level3": null, "level4": null, "level5": null }, { "object_name": "detergent", "level1": "daily_necessities", "level2": "detergent", "level3": null, "level4": null, "level5": null }, { "object_name": "egg_beater", "level1": "electrical_appliances", "level2": "egg_beater", "level3": null, "level4": null, "level5": null }, { "object_name": "towel", "level1": "clothing", "level2": "towel", "level3": null, "level4": null, "level5": null }, { "object_name": "orange", "level1": "fruit", "level2": "orange", "level3": null, "level4": null, "level5": null }, { "object_name": "peach", "level1": "fruit", "level2": "peach", "level3": null, "level4": null, "level5": null }, { "object_name": "marker", "level1": "office_supplies", "level2": "marker", "level3": null, "level4": null, "level5": null }, { "object_name": "rubiks_cube", "level1": "toy", "level2": "rubiks_cube", "level3": null, "level4": null, "level5": null }, { "object_name": "bread_slice", "level1": "food", "level2": "bread_slice", "level3": null, "level4": null, "level5": null }, { "object_name": "brush", "level1": "daily_necessities", "level2": "brush", "level3": null, "level4": null, "level5": null }, { "object_name": "yogurt", "level1": "drink", "level2": "yogurt", "level3": null, "level4": null, "level5": null }, { "object_name": "power_strip", "level1": "electric_appliance", "level2": "power_strip", "level3": null, "level4": null, "level5": null }, { "object_name": "milk", "level1": "drink", "level2": "milk", "level3": null, "level4": null, "level5": null }, { "object_name": "soda", "level1": "drink", "level2": "soda", "level3": null, "level4": null, "level5": null }, { "object_name": "lime", "level1": "fruit", "level2": "lime", "level3": null, "level4": null, "level5": null }, { "object_name": "coffee_capsule", "level1": "drink", "level2": "coffee_capsule", "level3": null, "level4": null, "level5": null }, { "object_name": "dish", "level1": "container", "level2": "dish", "level3": null, "level4": null, "level5": null }, { "object_name": "glasses_case", "level1": "furniture", "level2": "glasses_case", "level3": null, "level4": null, "level5": null }, { "object_name": "egg_yolk_pastry", "level1": "food", "level2": "egg_yolk_pastry", "level3": null, "level4": null, "level5": null }, { "object_name": "glasses_case", "level1": "daily_necessities", "level2": "glasses_case", "level3": null, "level4": null, "level5": null }, { "object_name": "gum", "level1": "daily_necessities", "level2": "gum", "level3": null, "level4": null, "level5": null }, { "object_name": "tape", "level1": "daily_necessities", "level2": "tape", "level3": null, "level4": null, "level5": null }, { "object_name": "soft_cleanser", "level1": "daily_necessities", "level2": "soft_cleanser", "level3": null, "level4": null, "level5": null }, { "object_name": "chips", "level1": "food", "level2": "chips", "level3": null, "level4": null, "level5": null }, { "object_name": "chocolate", "level1": "food", "level2": "chocolate", "level3": null, "level4": null, "level5": null }, { "object_name": "cookie", "level1": "food", "level2": "cookie", "level3": null, "level4": null, "level5": null }, { "object_name": "spoon", "level1": "tableware", "level2": "spoon", "level3": null, "level4": null, "level5": null } ], "path": "R1_Lite_move_the_position_of_the_glass", "video_url": "./assets/videos/R1_Lite_move_the_position_of_the_glass.mp4", "thumbnail_url": "./assets/thumbnails/R1_Lite_move_the_position_of_the_glass.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "423.9MB", "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": "R1_Lite", "codebase_version": "v2.1", "statistics": { "total_episodes": 36, "total_frames": 12480, "total_tasks": 1, "total_videos": 144, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:35" }, "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_left_rgb": { "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_high_right_rgb": { "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 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" ] }, "action": { "dtype": "float32", "shape": [ 18 ], "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 }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "put the glass the designated position.", "sub_tasks": [ "Grasp the glasses case with left gripper", "Abnormal", "Grasp the glasses case with right gripper", "Place the glasses case on the table with right gripper", "Static", "Place the glasses case on the table with left gripper", "End", "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_left_rgb", "name": "cam_high_left_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_high_right_rgb", "name": "cam_high_right_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_left_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_high_right_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "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" ] } }, "action_space": { "dtype": "float32", "shape": [ 18 ], "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "R1_Lite_move_the_position_of_the_glass_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_left_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_high_right_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "move_the_position_of_the_glasses_case", "dataset_uuid": null, "task_descriptions": [ "put the glasses case the designated position." ], "scene_type": [ "home" ], "atomic_actions": [ "place", "pick", "grasp" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "pen", "level1": "office_supplies", "level2": "pen", "level3": null, "level4": null, "level5": null }, { "object_name": "banana", "level1": "fruit", "level2": "banana", "level3": null, "level4": null, "level5": null }, { "object_name": "bath_ball", "level1": "daily_necessities", "level2": "bath_ball", "level3": null, "level4": null, "level5": null }, { "object_name": "bowl", "level1": "container", "level2": "bowl", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null }, { "object_name": "can", "level1": "container", "level2": "can", "level3": null, "level4": null, "level5": null }, { "object_name": "eraser", "level1": "office_supplies", "level2": "eraser", "level3": null, "level4": null, "level5": null }, { "object_name": "hard_cleanser", "level1": "daily_necessities", "level2": "hard_cleanser", "level3": null, "level4": null, "level5": null }, { "object_name": "long_bread", "level1": "food", "level2": "long_bread", "level3": null, "level4": null, "level5": null }, { "object_name": "peeler", "level1": "tool", "level2": "peeler", "level3": null, "level4": null, "level5": null }, { "object_name": "block", "level1": "toy", "level2": "block", "level3": null, "level4": null, "level5": null }, { "object_name": "duck", "level1": "toy", "level2": "duck", "level3": null, "level4": null, "level5": null }, { "object_name": "soap", "level1": "daily_necessities", "level2": "soap", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "basket", "level1": "container", "level2": "basket", "level3": null, "level4": null, "level5": null }, { "object_name": "cola", "level1": "drink", "level2": "cola", "level3": null, "level4": null, "level5": null }, { "object_name": "detergent", "level1": "daily_necessities", "level2": "detergent", "level3": null, "level4": null, "level5": null }, { "object_name": "egg_beater", "level1": "electrical_appliances", "level2": "egg_beater", "level3": null, "level4": null, "level5": null }, { "object_name": "towel", "level1": "clothing", "level2": "towel", "level3": null, "level4": null, "level5": null }, { "object_name": "orange", "level1": "fruit", "level2": "orange", "level3": null, "level4": null, "level5": null }, { "object_name": "peach", "level1": "fruit", "level2": "peach", "level3": null, "level4": null, "level5": null }, { "object_name": "marker", "level1": "office_supplies", "level2": "marker", "level3": null, "level4": null, "level5": null }, { "object_name": "rubiks_cube", "level1": "toy", "level2": "rubiks_cube", "level3": null, "level4": null, "level5": null }, { "object_name": "bread_slice", "level1": "food", "level2": "bread_slice", "level3": null, "level4": null, "level5": null }, { "object_name": "brush", "level1": "daily_necessities", "level2": "brush", "level3": null, "level4": null, "level5": null }, { "object_name": "yogurt", "level1": "drink", "level2": "yogurt", "level3": null, "level4": null, "level5": null }, { "object_name": "power_strip", "level1": "electric_appliance", "level2": "power_strip", "level3": null, "level4": null, "level5": null }, { "object_name": "milk", "level1": "drink", "level2": "milk", "level3": null, "level4": null, "level5": null }, { "object_name": "soda", "level1": "drink", "level2": "soda", "level3": null, "level4": null, "level5": null }, { "object_name": "lime", "level1": "fruit", "level2": "lime", "level3": null, "level4": null, "level5": null }, { "object_name": "coffee_capsule", "level1": "drink", "level2": "coffee_capsule", "level3": null, "level4": null, "level5": null }, { "object_name": "dish", "level1": "container", "level2": "dish", "level3": null, "level4": null, "level5": null }, { "object_name": "glasses_case", "level1": "furniture", "level2": "glasses_case", "level3": null, "level4": null, "level5": null }, { "object_name": "egg_yolk_pastry", "level1": "food", "level2": "egg_yolk_pastry", "level3": null, "level4": null, "level5": null }, { "object_name": "glasses_case", "level1": "daily_necessities", "level2": "glasses_case", "level3": null, "level4": null, "level5": null }, { "object_name": "gum", "level1": "daily_necessities", "level2": "gum", "level3": null, "level4": null, "level5": null }, { "object_name": "tape", "level1": "daily_necessities", "level2": "tape", "level3": null, "level4": null, "level5": null }, { "object_name": "soft_cleanser", "level1": "daily_necessities", "level2": "soft_cleanser", "level3": null, "level4": null, "level5": null }, { "object_name": "chips", "level1": "food", "level2": "chips", "level3": null, "level4": null, "level5": null }, { "object_name": "chocolate", "level1": "food", "level2": "chocolate", "level3": null, "level4": null, "level5": null }, { "object_name": "cookie", "level1": "food", "level2": "cookie", "level3": null, "level4": null, "level5": null }, { "object_name": "spoon", "level1": "tableware", "level2": "spoon", "level3": null, "level4": null, "level5": null } ], "device_model": [ "galaxea_r1_lite" ], "end_effector_type": "two_finger_gripper", "operation_platform_height": 77.2 } }, "AIRBOT_MMK2_store_pomegranates_and_mangoes": { "dataset_name": "store_pomegranates_and_mangoes", "dataset_uuid": "40eeb436-8f0b-4ef8-b835-9a9c4e510448", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "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": "pomegranate", "level1": "fruit", "level2": "pomegranate", "level3": null, "level4": null, "level5": null }, { "object_name": "compartment", "level1": "container", "level2": "compartment", "level3": null, "level4": null, "level5": null }, { "object_name": "mango", "level1": "fruit", "level2": "mango", "level3": null, "level4": null, "level5": null } ], "path": "AIRBOT_MMK2_store_pomegranates_and_mangoes", "video_url": "./assets/videos/AIRBOT_MMK2_store_pomegranates_and_mangoes.mp4", "thumbnail_url": "./assets/thumbnails/AIRBOT_MMK2_store_pomegranates_and_mangoes.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "495.0MB", "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": 44, "total_frames": 13755, "total_tasks": 1, "total_videos": 176, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:43" }, "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": "One hand throws the pomegranate into one compartment while the other hand throws the mango into the other compartment.", "sub_tasks": [ "Grasp a mango with the right gripper", "Place the pomegranate into the left compartment of the storage box with the left gripper", "Place the mango into the right compartment of the storage box with the right gripper", "Static", "End", "Grasp a pomegranate 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_store_pomegranates_and_mangoes_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "store_pomegranates_and_mangoes", "dataset_uuid": null, "task_descriptions": [ "the left hand throws the pomegranate into the left compartment, the right hand throws the mango into the right compartment." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "pomegranate", "level1": "fruit", "level2": "pomegranate", "level3": null, "level4": null, "level5": null }, { "object_name": "compartment", "level1": "container", "level2": "compartment", "level3": null, "level4": null, "level5": null }, { "object_name": "mango", "level1": "fruit", "level2": "mango", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "airbot mmk2" ], "end_effector_type": "five_finger_hand" } }, "AIRBOT_MMK2_square_arrangement": { "dataset_name": "square_arrangement", "dataset_uuid": "cd2eedcd-a8fc-496e-96d2-199d2b7e5570", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "lower" ], "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": "square", "level1": "toy", "level2": "square", "level3": null, "level4": null, "level5": null } ], "path": "AIRBOT_MMK2_square_arrangement", "video_url": "./assets/videos/AIRBOT_MMK2_square_arrangement.mp4", "thumbnail_url": "./assets/thumbnails/AIRBOT_MMK2_square_arrangement.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "1K-10K", "dataset_size": "308.4MB", "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": 6572, "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": "Place the small cubes on each side simultaneously on the large cubes on the same side.", "sub_tasks": [ "Grasp the green cube block with the right gripper", "Grasp the blue cube block with the left gripper", "Place the green cube block on the yellow cube block with the right gripper", "Place the blue cube block on the red cube block with the left gripper", "End", "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_square_arrangement_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "square_arrangement", "dataset_uuid": null, "task_descriptions": [ "place the small cubes placed on the left and right sides simultaneously on the corresponding large cubes on the left and right sides." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "lower" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "square", "level1": "toy", "level2": "square", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "airbot mmk2" ], "end_effector_type": "five_finger_hand" } }, "alpha_bot_2_operate_the_microwave_oven": { "dataset_name": "operate_the_microwave_oven", "dataset_uuid": "6223c1d1-5efd-480c-8aa8-e1d4f14069f2", "scene_type": [ "home" ], "atomic_actions": [ "pullapart", "pushtogether", "turn" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "microwave_oven", "level1": "kitchenware", "level2": "microwave_oven", "level3": null, "level4": null, "level5": null }, { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null } ], "path": "alpha_bot_2_operate_the_microwave_oven", "video_url": "./assets/videos/alpha_bot_2_operate_the_microwave_oven.mp4", "thumbnail_url": "./assets/thumbnails/alpha_bot_2_operate_the_microwave_oven.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "395.7MB", "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": "alpha_bot_2", "codebase_version": "v2.1", "statistics": { "total_episodes": 16, "total_frames": 16486, "total_tasks": 1, "total_videos": 64, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:15" }, "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_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_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": [ 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", "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" ] }, "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", "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" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "set the temperature of the microwave oven and turn it on. Open the door of the microwave oven and then close it.", "sub_tasks": [ "Press the time button with right gripper", "Press the start button with right gripper", "End", "Press the switch with right gripper", "Close the microwave door with 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_chest_rgb", "name": "cam_chest_rgb", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_head_rgb", "name": "cam_head_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 } ], "observation_space": { "images": [ { "key": "observation.images.cam_chest_rgb", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_head_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" ] } ], "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", "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" ] } }, "action_space": { "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", "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "alpha_bot_2_operate_the_microwave_oven_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_chest_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_head_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "operate_the_microwave_oven", "task_descriptions": [ "set the temperature of the microwave oven and turn it on. Open the door of the microwave oven and then close it." ], "scene_type": [ "home" ], "atomic_actions": [ "pullapart", "pushtogether", "turn" ], "objects": [ { "object_name": "microwave_oven", "level1": "kitchenware", "level2": "microwave_oven", "level3": null, "level4": null, "level5": null }, { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "ai² aiphabot 2" ], "end_effector_type": "two_finger_gripper", "dataset_uuid": null } }, "AIRBOT_MMK2_lemon_and_orange_storage": { "dataset_name": "lemon_and_orange_storage", "dataset_uuid": "0d0b881a-6584-4c86-a5de-2def6bfdaa68", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "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": "lemon", "level1": "fruit", "level2": "lemon", "level3": null, "level4": null, "level5": null }, { "object_name": "compartment", "level1": "container", "level2": "compartment", "level3": null, "level4": null, "level5": null }, { "object_name": "orange", "level1": "fruit", "level2": "orange", "level3": null, "level4": null, "level5": null } ], "path": "AIRBOT_MMK2_lemon_and_orange_storage", "video_url": "./assets/videos/AIRBOT_MMK2_lemon_and_orange_storage.mp4", "thumbnail_url": "./assets/thumbnails/AIRBOT_MMK2_lemon_and_orange_storage.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "1K-10K", "dataset_size": "286.8MB", "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": 29, "total_frames": 8975, "total_tasks": 1, "total_videos": 116, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:28" }, "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": "Place the lemon in one compartment and the orange in the other compartment, using a different hand for each.", "sub_tasks": [ "Abnormal", "Static", "End", "Place the lemon into the left compartment of the storage box with the left gripper", "Place the orange into the right compartment of the storage box with the right gripper", "Grasp the lemon with the left gripper", "Grasp the orange with the right 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_lemon_and_orange_storage_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "lemon_and_orange_storage", "dataset_uuid": null, "task_descriptions": [ "put the lemon in the left compartment with your left hand, put the orange in the right compartment with your right hand." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "lemon", "level1": "fruit", "level2": "lemon", "level3": null, "level4": null, "level5": null }, { "object_name": "compartment", "level1": "container", "level2": "compartment", "level3": null, "level4": null, "level5": null }, { "object_name": "orange", "level1": "fruit", "level2": "orange", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "airbot mmk2" ], "end_effector_type": "five_finger_hand" } }, "AIRBOT_MMK2_take_down_paper_cup": { "dataset_name": "take_down_paper_cup", "dataset_uuid": "0c37ceb8-ce17-4a73-a167-316d17712390", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "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": "coffee_cup", "level1": "container", "level2": "coffee_cup", "level3": null, "level4": null, "level5": null }, { "object_name": "lid", "level1": "container", "level2": "lid", "level3": null, "level4": null, "level5": null } ], "path": "AIRBOT_MMK2_take_down_paper_cup", "video_url": "./assets/videos/AIRBOT_MMK2_take_down_paper_cup.mp4", "thumbnail_url": "./assets/thumbnails/AIRBOT_MMK2_take_down_paper_cup.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "1K-10K", "dataset_size": "224.6MB", "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": 46, "total_frames": 7169, "total_tasks": 1, "total_videos": 184, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:45" }, "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": "Take the white paper cup off the white lid with one hand and the other white paper cup off with your other hand.", "sub_tasks": [ "End", "place the cup in the table use the right gripper", "Grasp the cup the left gripper", "place the cup in the table use the left gripper", "Grasp the cup the right gripper", "Abnormal", "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_take_down_paper_cup_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "take_down_paper_cup", "dataset_uuid": null, "task_descriptions": [ "take the white coffee cup off the white lid with your left hand and the other coffee paper cup off with your right hand." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place", "pick" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "coffee_cup", "level1": "container", "level2": "coffee_cup", "level3": null, "level4": null, "level5": null }, { "object_name": "lid", "level1": "container", "level2": "lid", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "airbot mmk2" ], "end_effector_type": "five_finger_hand" } }, "leju_robot_box_storage_parcel_l": { "dataset_name": "box_storage_parcel_l", "dataset_uuid": "e764850d-3803-4804-8b6b-ed9e66809734", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "five_finger_hand" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "parcel", "level1": "container", "level2": "parcel", "level3": null, "level4": null, "level5": null }, { "object_name": "conveyor_belt", "level1": "tool", "level2": "conveyor_belt", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null } ], "path": "leju_robot_box_storage_parcel_l", "video_url": "./assets/videos/leju_robot_box_storage_parcel_l.mp4", "thumbnail_url": "./assets/thumbnails/leju_robot_box_storage_parcel_l.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "8.8GB", "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": "leju_robot", "codebase_version": "v2.1", "statistics": { "total_episodes": 104, "total_frames": 142133, "total_tasks": 1, "total_videos": 312, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:103" }, "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.camera_head_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_left_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_right_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "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": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] }, "action": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "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": "Pick up the bottle on the table and put it into the conveyor belt.", "sub_tasks": [ "Pick up the bottle from the table.", "Flip the bottle to face forward.", "Take the bottle from the table.", "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.camera_head_rgb", "name": "camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_left_wrist_rgb", "name": "camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_right_wrist_rgb", "name": "camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] } }, "action_space": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "leju_robot_box_storage_parcel_l_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.camera_head_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.camera_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.camera_right_wrist_rgb/\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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "box_storage_parcel_l", "dataset_uuid": null, "task_descriptions": [ "moved the parcel from conveyor to table for the left to box." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "parcel", "level1": "container", "level2": "parcel", "level3": null, "level4": null, "level5": null }, { "object_name": "conveyor_belt", "level1": "tool", "level2": "conveyor_belt", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "leju_robot" ], "end_effector_type": "two_finger_gripper" } }, "leju_robot_hotel_services_a": { "dataset_name": "hotel_services_a", "dataset_uuid": "3e695119-00a0-4747-9da8-d491e6035ee1", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "five_finger_hand" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "card", "level1": "nfc", "level2": "card", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "card_reader", "level1": "electronic_products", "level2": "card_reader", "level3": null, "level4": null, "level5": null } ], "path": "leju_robot_hotel_services_a", "video_url": "./assets/videos/leju_robot_hotel_services_a.mp4", "thumbnail_url": "./assets/thumbnails/leju_robot_hotel_services_a.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "15.7GB", "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": "leju_robot", "codebase_version": "v2.1", "statistics": { "total_episodes": 340, "total_frames": 234607, "total_tasks": 1, "total_videos": 1020, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:339" }, "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.camera_head_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_left_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_right_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "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": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] }, "action": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "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": "take out the card place it on the sensor for recognition and then transfer it.", "sub_tasks": [ "Hand the room key to the person.", "Place the ID card on the card reader.", "Take the ID card from the person's hand.", "Pick up the room key from the key card box.", "Hand the ID card to the person.", "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.camera_head_rgb", "name": "camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_left_wrist_rgb", "name": "camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_right_wrist_rgb", "name": "camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] } }, "action_space": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "leju_robot_hotel_services_a_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.camera_head_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.camera_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.camera_right_wrist_rgb/\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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "hotel_services_a", "dataset_uuid": null, "task_descriptions": [ "take identity card and place it on card reader then give identity card and room card to human." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "card", "level1": "nfc", "level2": "card", "level3": null, "level4": null, "level5": null }, { "object_name": "box", "level1": "container", "level2": "box", "level3": null, "level4": null, "level5": null }, { "object_name": "card_reader", "level1": "electronic_products", "level2": "card_reader", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "leju_kuavo_4_pro" ], "end_effector_type": "five_finger_gripper" } }, "R1_Lite_clean_toilet": { "dataset_name": "clean_toilet", "dataset_uuid": "5a0c1792-b168-4b12-ab0b-1cdb826fce18", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place", "close", "open", "press" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "toilet", "level1": "sanitary_ware", "level2": "toilet", "level3": null, "level4": null, "level5": null }, { "object_name": "toilet_brush", "level1": "tool", "level2": "toilet_brush", "level3": null, "level4": null, "level5": null }, { "object_name": "toilet_brush_base", "level1": "tool", "level2": "toilet_brush_base", "level3": null, "level4": null, "level5": null }, { "object_name": "toilet_cleaner", "level1": "daily_necessities", "level2": "toilet_cleaner", "level3": null, "level4": null, "level5": null } ], "path": "R1_Lite_clean_toilet", "video_url": "./assets/videos/R1_Lite_clean_toilet.mp4", "thumbnail_url": "./assets/thumbnails/R1_Lite_clean_toilet.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "11.8GB", "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": "R1_Lite", "codebase_version": "v2.1", "statistics": { "total_episodes": 99, "total_frames": 264408, "total_tasks": 1, "total_videos": 297, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:98" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "pour toilet cleaner brush toilet flush then close lid.", "sub_tasks": [ "Use the left hand to lift the toilet lid slightly", "Pour in the cleaning agent", "End", "Flush the toilet", "Place the cleaning agent on the floor", "Put the toilet brush back", "Close the toilet lid", "Abnormal", "Open the toilet lid", "Scrub the toilet bowl", "Use the right hand to fully open the toilet lid", "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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "R1_Lite_clean_toilet_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "clean_toilet", "dataset_uuid": null, "task_descriptions": [ "open the toilet seat pour toilet cleaner brush toilet flush then close lid." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place", "close", "open", "press" ], "objects": [ { "object_name": "toilet", "level1": "sanitary_ware", "level2": "toilet", "level3": null, "level4": null, "level5": null }, { "object_name": "toilet_brush", "level1": "tool", "level2": "toilet_brush", "level3": null, "level4": null, "level5": null }, { "object_name": "toilet_brush_base", "level1": "tool", "level2": "toilet_brush_base", "level3": null, "level4": null, "level5": null }, { "object_name": "toilet_cleaner", "level1": "daily_necessities", "level2": "toilet_cleaner", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "galaxea_r1_lite" ], "end_effector_type": "two_finger_gripper" } }, "Cobot_Magic_move_plate": { "dataset_name": "move_plate", "dataset_uuid": "c3ec4fbc-a32e-4246-896d-c962d096e53c", "scene_type": [ "home", "restaurant" ], "atomic_actions": [ "grasp", "pick", "place" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": 77.2, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null } ], "path": "Cobot_Magic_move_plate", "video_url": "./assets/videos/Cobot_Magic_move_plate.mp4", "thumbnail_url": "./assets/thumbnails/Cobot_Magic_move_plate.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "459.9MB", "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": "Cobot_Magic", "codebase_version": "v2.1", "statistics": { "total_episodes": 99, "total_frames": 25309, "total_tasks": 1, "total_videos": 297, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:98" }, "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.state": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "action": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "timestamp": { "dtype": "float32", "shape": [ 1 ], "names": null }, "frame_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "episode_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "task_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "subtask_annotation": { "names": null, "dtype": "int32", "shape": [ 5 ] }, "scene_annotation": { "names": null, "dtype": "int32", "shape": [ 1 ] }, "eef_sim_pose_state": { "names": [ "left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_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 ] }, "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 ] }, "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 ] } }, "tasks": "pick up the plate and place it in another position on the table.", "sub_tasks": [ "Pick the container that can hold fruits", "Move the picked object to the right side of the table", "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 } ], "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" ] } ], "state": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] } }, "action_space": { "dtype": "float32", "shape": [ 26 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "Cobot_Magic_move_plate_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "move_plate", "dataset_uuid": null, "task_descriptions": [ "pick up the plate and place it in another position on the table." ], "scene_type": [ "home", "restaurant" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", "level1": "container", "level2": "plate", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "agilex_cobot_decoupled_magic" ], "end_effector_type": "two_finger_gripper" } }, "AIRBOT_MMK2_storage_rubiks_cube_and_cup": { "dataset_name": "storage_rubiks_cube_and_cup", "dataset_uuid": "a274e48b-ea08-49bb-a762-da873baef867", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "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": "rubiks_cube", "level1": "toy", "level2": "rubiks_cube", "level3": null, "level4": null, "level5": null }, { "object_name": "circular_tray", "level1": "container", "level2": "circular_tray", "level3": null, "level4": null, "level5": null }, { "object_name": "paper_cup", "level1": "container", "level2": "paper_cup", "level3": null, "level4": null, "level5": null } ], "path": "AIRBOT_MMK2_storage_rubiks_cube_and_cup", "video_url": "./assets/videos/AIRBOT_MMK2_storage_rubiks_cube_and_cup.mp4", "thumbnail_url": "./assets/thumbnails/AIRBOT_MMK2_storage_rubiks_cube_and_cup.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "10K-100K", "dataset_size": "392.2MB", "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": 48, "total_frames": 13979, "total_tasks": 1, "total_videos": 192, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:47" }, "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": "One hand places the rubik's cube onto the circular tray while the other places the paper cup on top of it.", "sub_tasks": [ "End", "Place the paper cup on the magic cube with the left gripper", "Abnormal", "Grasp the magic cube with the right gripper", "Place the magic cube on the plate with the right gripper", "Grasp the paper cup 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_storage_rubiks_cube_and_cup_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "storage_rubiks_cube_and_cup", "dataset_uuid": null, "task_descriptions": [ "the right hand places the rubik's cube onto the circular tray, the left hand places the paper cup on top of the rubik's cube." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "rubiks_cube", "level1": "toy", "level2": "rubiks_cube", "level3": null, "level4": null, "level5": null }, { "object_name": "circular_tray", "level1": "container", "level2": "circular_tray", "level3": null, "level4": null, "level5": null }, { "object_name": "paper_cup", "level1": "container", "level2": "paper_cup", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, "device_model": [ "airbot mmk2" ], "end_effector_type": "five_finger_hand" } }, "G1edu-u3_put_the_water_bottle_aq": { "dataset_name": "put_the_water_bottle_aq", "dataset_uuid": "09897bd8-675b-4f42-892f-cc674883e61f", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place" ], "end_effector_type": [ "three_finger_hand" ], "operation_platform_height": null, "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "bottle", "level1": "container", "level2": "bottle", "level3": null, "level4": null, "level5": null }, { "object_name": "water", "level1": "drink", "level2": "water", "level3": null, "level4": null, "level5": null } ], "path": "G1edu-u3_put_the_water_bottle_aq", "video_url": "./assets/videos/G1edu-u3_put_the_water_bottle_aq.mp4", "thumbnail_url": "./assets/thumbnails/G1edu-u3_put_the_water_bottle_aq.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "1K-10K", "dataset_size": "73.1MB", "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": "G1edu-u3", "codebase_version": "v2.1", "statistics": { "total_episodes": 21, "total_frames": 5861, "total_tasks": 1, "total_videos": 21, "total_chunks": 1, "chunks_size": 24, "fps": 30 }, "splits": { "train": "0:20" }, "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.ego_view": { "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.state": { "dtype": "float32", "shape": [ 30 ], "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": [ 30 ], "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": "float64", "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": "Pick up the water bottle\nPick up the bread\nPick up the pink cup\nPick up the lemmon\nPick up the tissue box\nPick up the toy bear\nPlace the water bottle\nPlace the bread\nPlace the pink cup\nPlace the lemon\nPlace the lemon on the orange round plate\nPlace the tissue box\nPlace the toy bear", "sub_tasks": [ "End", "Place the water bottle on the table with left gripper", "Place the water bottle on the table with right 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.ego_view", "name": "ego_view", "dtype": "video", "shape": [ 480, 640, 3 ], "resolution": [ 480, 640 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.ego_view", "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channel" ] } ], "state": { "dtype": "float32", "shape": [ 30 ], "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_space": { "dtype": "float32", "shape": [ 30 ], "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" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "G1edu-u3_put_the_water_bottle_aq_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.ego_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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "put_the_water_bottle_aq", "dataset_uuid": null, "task_descriptions": [ "put the water bottle on the table." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "place" ], "objects": [ { "object_name": "table", "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "bottle", "level1": "container", "level2": "bottle", "level3": null, "level4": null, "level5": null }, { "object_name": "water", "level1": "drink", "level2": "water", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "unitree_g1" ], "end_effector_type": "three_finger_hand" } }, "leju_robot_moving_parts_r": { "dataset_name": "moving_parts_r", "dataset_uuid": "ee9fa92f-ba5e-4973-ab0f-b16bc5e31efe", "scene_type": [], "atomic_actions": [], "end_effector_type": [ "five_finger_hand" ], "operation_platform_height": null, "objects": [], "path": "leju_robot_moving_parts_r", "video_url": "./assets/videos/leju_robot_moving_parts_r.mp4", "thumbnail_url": "./assets/thumbnails/leju_robot_moving_parts_r.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "53.4GB", "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": "leju_robot", "codebase_version": "v2.1", "statistics": { "total_episodes": 495, "total_frames": 775023, "total_tasks": 1, "total_videos": 1485, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:494" }, "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.camera_head_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_left_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_right_wrist_rgb": { "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 848, "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": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", 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"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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "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": "take the parts from the cabinet and place them on the table.", "sub_tasks": [ "Place the black part on the table with right gripper", "Pick up the large material from the shelf.", "Insert the large material into the corresponding slot on the workbench.", "End", "Grasp the black part with right gripper", "Move the large material to the workbench.", "Move to the initial position of the shelf.", "Move to the table behind body", "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.camera_head_rgb", "name": "camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_left_wrist_rgb", "name": "camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false }, { "key": "observation.images.camera_right_wrist_rgb", "name": "camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "resolution": [ 480, 848 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.camera_head_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_left_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.camera_right_wrist_rgb", "dtype": "video", "shape": [ 480, 848, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 118 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s", "left_arm_joint_1_eff_nm", "left_arm_joint_2_eff_nm", "left_arm_joint_3_eff_nm", "left_arm_joint_4_eff_nm", "left_arm_joint_5_eff_nm", "left_arm_joint_6_eff_nm", "left_arm_joint_7_eff_nm", "right_arm_joint_1_eff_nm", "right_arm_joint_2_eff_nm", "right_arm_joint_3_eff_nm", "right_arm_joint_4_eff_nm", "right_arm_joint_5_eff_nm", "right_arm_joint_6_eff_nm", "right_arm_joint_7_eff_nm", "left_leg_joint_1_vel_rad_s", "left_leg_joint_2_vel_rad_s", "left_leg_joint_3_vel_rad_s", "left_leg_joint_4_vel_rad_s", "left_leg_joint_5_vel_rad_s", "left_leg_joint_6_vel_rad_s", "right_leg_joint_1_vel_rad_s", "right_leg_joint_2_vel_rad_s", "right_leg_joint_3_vel_rad_s", "right_leg_joint_4_vel_rad_s", "right_leg_joint_5_vel_rad_s", "right_leg_joint_6_vel_rad_s", "left_leg_joint_1_eff_nm", "left_leg_joint_2_eff_nm", "left_leg_joint_3_eff_nm", "left_leg_joint_4_eff_nm", "left_leg_joint_5_eff_nm", "left_leg_joint_6_eff_nm", "right_leg_joint_1_eff_nm", "right_leg_joint_2_eff_nm", "right_leg_joint_3_eff_nm", "right_leg_joint_4_eff_nm", "right_leg_joint_5_eff_nm", "right_leg_joint_6_eff_nm", "head_joint_1_vel_rad_s", "head_joint_2_vel_rad_s", "head_joint_1_eff_nm", "head_joint_2_eff_nm", "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", "imu_accel_x_m_s2", "imu_accel_y_m_s2", "imu_accel_z_m_s2", "imu_gyro_x_rad_s", "imu_gyro_y_rad_s", "imu_gyro_z_rad_s", "imu_quat_x", "imu_quat_y", "imu_quat_z", "imu_quat_w" ] } }, "action_space": { "dtype": "float32", "shape": [ 54 ], "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_arm_joint_1_vel_rad_s", "left_arm_joint_2_vel_rad_s", "left_arm_joint_3_vel_rad_s", "left_arm_joint_4_vel_rad_s", "left_arm_joint_5_vel_rad_s", "left_arm_joint_6_vel_rad_s", "left_arm_joint_7_vel_rad_s", "right_arm_joint_1_vel_rad_s", "right_arm_joint_2_vel_rad_s", "right_arm_joint_3_vel_rad_s", "right_arm_joint_4_vel_rad_s", "right_arm_joint_5_vel_rad_s", "right_arm_joint_6_vel_rad_s", "right_arm_joint_7_vel_rad_s" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "leju_robot_moving_parts_r_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.camera_head_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.camera_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.camera_right_wrist_rgb/\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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": {} }, "R1_Lite_clean_the_floor": { "dataset_name": "clean_the_floor", "dataset_uuid": "e5bd0025-b766-49f0-b99d-9321e477b362", "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place", "wipe" ], "end_effector_type": [ "two_finger_gripper" ], "operation_platform_height": null, "objects": [ { "object_name": "floor", "level1": "home_building_materials", "level2": "floor", "level3": null, "level4": null, "level5": null }, { "object_name": "rag", "level1": "fabric", "level2": "rag", "level3": null, "level4": null, "level5": null }, { "object_name": "carpet", "level1": "fabric", "level2": "carpet", "level3": null, "level4": null, "level5": null }, { "object_name": "foam_cleaning_net", "level1": "cleaning_supplies", "level2": "foam_cleaning_net", "level3": null, "level4": null, "level5": null } ], "path": "R1_Lite_clean_the_floor", "video_url": "./assets/videos/R1_Lite_clean_the_floor.mp4", "thumbnail_url": "./assets/thumbnails/R1_Lite_clean_the_floor.jpg", "license": "apache-2.0", "language": [ "en", "zh" ], "task_categories": [ "robotics" ], "tags": [ "RoboCOIN", "LeRobot" ], "frame_range": "100K-1M", "dataset_size": "10.1GB", "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": "R1_Lite", "codebase_version": "v2.1", "statistics": { "total_episodes": 87, "total_frames": 159495, "total_tasks": 1, "total_videos": 261, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, "splits": { "train": "0:86" }, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "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": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "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 ] }, "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 ] }, "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 ] } }, "tasks": "wipe floor under carpet with rag then place foam net on floor.", "sub_tasks": [ "abnormal", "Put down the rag", "Pick up the foam protection net", "Lift up the carpet", "Place the foam protection net on the floor", "Wipe the floor under the carpet with a rag", "Pick up the rag", "Lay down the carpet", "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": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_left_wrist_rgb", "name": "cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false }, { "key": "observation.images.cam_right_wrist_rgb", "name": "cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "resolution": [ 720, 1280 ], "fps": 30, "is_depth": false } ], "observation_space": { "images": [ { "key": "observation.images.cam_high_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_left_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] }, { "key": "observation.images.cam_right_wrist_rgb", "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ] } ], "state": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] } }, "action_space": { "dtype": "float32", "shape": [ 14 ], "names": [ "left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open" ] }, "eef_sim_pose": "auto_generated", "gripper_open_scale": "auto_generated", "depth_enabled": false, "data_schema": "auto_generated", "structure": "R1_Lite_clean_the_floor_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 └── (...)", "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:\n- LeRobot Framework: https://github.com/huggingface/lerobot", "version_info": "## Version History\n- v1.0.0 (2025-11): Initial release", "raw": { "dataset_name": "clean_the_floor", "dataset_uuid": null, "task_descriptions": [ "wipe floor under carpet with rag then place the cloth on the ground." ], "scene_type": [ "home" ], "atomic_actions": [ "grasp", "pick", "place", "wipe" ], "objects": [ { "object_name": "floor", "level1": "home_building_materials", "level2": "floor", "level3": null, "level4": null, "level5": null }, { "object_name": "rag", "level1": "fabric", "level2": "rag", "level3": null, "level4": null, "level5": null }, { "object_name": "carpet", "level1": "fabric", "level2": "carpet", "level3": null, "level4": null, "level5": null }, { "object_name": "foam_cleaning_net", "level1": "cleaning_supplies", "level2": "foam_cleaning_net", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, "device_model": [ "galaxea_r1_lite" ], "end_effector_type": "two_finger_gripper" } } }