| task_categories: &id004 |
| - robotics |
| language: &id003 |
| - en |
| - zh |
| tags: &id007 |
| - RoboCOIN |
| - LeRobot |
| license: apache-2.0 |
| configs: default |
| extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper |
| in your research/publications—see the "Citation" section for details. You agree |
| to not use the dataset to conduct experiments that cause harm to human subjects. |
| extra_gated_fields: |
| Company/Organization: |
| type: text |
| description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" |
| Country: |
| type: country |
| description: e.g., "Germany", "China", "United States" |
| codebase_version: v2.1 |
| dataset_name: push_building_blocks |
| dataset_uuid: 6428216e-f07b-4971-8ba9-ac3162e1d2b0 |
| scene_type: |
| level1: household |
| env_type: Due to some reasons, this dataset temporarily cannot provide the environment |
| type information. |
| objects: &id001 |
| - 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 |
| task_operation_type: Due to some reasons, this dataset temporarily cannot provide |
| the operation type information. |
| task_result: 'null' |
| task_instruction: Abnormal |
| 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' |
| atomic_actions: |
| - push |
| robot_name: AIRBOT_MMK2 |
| end_effector_type: five_finger_gripper |
| tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation |
| type information. |
| sensor_list: |
| - sensor_1 |
| - sensor_2 |
| - sensor_3 |
| came_info: |
| observation.images.cam_name_1: resolution_1 |
| observation.images.cam_name_2: resolution_2 |
| depth_enabled: false |
| coordinate_definition: right-hand-frame |
| origin_xyz: origin_xyz |
| joint_rotation_dim: joint_rotation_dim |
| end_rotation_dim: end_rotation_dim |
| end_translation_dim: end_translation_dim |
| base_robtation_dim: base_rotation_dim |
| base_translation_dim: base_translation_dim |
| annotations: &id005 |
| subtask_annotation: auto_generated |
| scene_annotation: auto_generated |
| eef_direction: auto_generated |
| eef_velocity: auto_generated |
| eef_acc_mag: auto_generated |
| gripper_mode: auto_generated |
| gripper_activity: auto_generated |
| operation_platform_height: 77.2 |
| statistics: &id002 |
| total_episodes: 139 |
| total_frames: 40790 |
| total_tasks: 3 |
| total_videos: 556 |
| total_chunks: 1 |
| chunks_size: 1000 |
| fps: 30 |
| frame_num: 40790 |
| dataset_size: 1.6GB |
| data_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 └──\ |
| \ (...)" |
| splits: |
| train: train |
| data_path: data_path |
| video_path: video_path |
| features: |
| features_placeholder: features_placeholder |
| authors: &id006 |
| contributed_by: |
| - name: RoboCOIN |
| url: https://flagopen.github.io/RoboCOIN/ |
| affiliation: RoboCOIN Team |
| annotated_by: |
| - name: RoboCOIN |
| url: https://flagopen.github.io/RoboCOIN/ |
| affiliation: RoboCOIN Team |
| dataset_description: This dataset uses an extended format based on LeRobot and is |
| fully compatible with LeRobot. |
| homepage: https://flagopen.github.io/RoboCOIN/ |
| paper: https://arxiv.org/abs/2511.17441 |
| repository: https://github.com/FlagOpen/RoboCOIN |
| contact_detail: robocoin@baai.ac.cn |
| contact_info: For questions, issues, or feedback regarding this dataset, please contact |
| us. |
| support_info: For technical support, please open an issue on our GitHub repository. |
| license_details: apache-2.0 |
| citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ |
| \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ |
| \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ |
| \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ |
| \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ |
| \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ |
| \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ |
| \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ |
| \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ |
| \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ |
| \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ |
| \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ |
| \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ |
| \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ |
| \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ |
| \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ |
| \ }" |
| additional_citations: 'If you use this dataset, please also consider citing: |
| |
| LeRobot Framework: https://github.com/huggingface/lerobot |
| |
| ' |
| version_info: Initial Release |
| video_url: null |
| raw: |
| path: AIRBOT_MMK2_push_building_blocks |
| dataset_name: push_building_blocks |
| robot_type: '' |
| end_effector_type: |
| - five_finger_hand |
| scene_type: [] |
| atomic_actions: |
| - push |
| tasks: Abnormal |
| objects: *id001 |
| operation_platform_height: 77.2 |
| frame_range: 0-40790 |
| dataset_size: 1.6GB |
| statistics: *id002 |
| dataset_uuid: 6428216e-f07b-4971-8ba9-ac3162e1d2b0 |
| language: *id003 |
| task_categories: *id004 |
| 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: *id005 |
| authors: *id006 |
| homepage: https://flagopen.github.io/RoboCOIN/ |
| paper: https://arxiv.org/abs/2511.17441 |
| repository: https://github.com/FlagOpen/RoboCOIN |
| license: apache-2.0 |
| tags: *id007 |
| citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ |
| \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ |
| \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ |
| \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ |
| \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ |
| \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ |
| \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ |
| \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ |
| \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ |
| \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ |
| \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ |
| \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ |
| \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ |
| \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ |
| \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ |
| \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ |
| \ year={2025}\n }" |
| depth_enabled: false |
| data_schema: "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 └── (...)" |
| 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 └── (...)" |
| surface_material: null |
| light: null |
| noise_level: null |
| tactile_info: null |
| sound_info: null |
| base_transform: null |
| end_transform: null |
| data_collector: null |
| data_annotator: null |
| data_modifier: null |
| modify_logo: null |
| data_dowload: null |
| field_definiton: null |
| dataset_organization: null |
| dataset_email: null |
| dataset_license: null |
| frame_range: 10K-100K |
|
|
